From 0efa915c9ccf8e180350699c10950ef2091652ef Mon Sep 17 00:00:00 2001 From: mahp Date: Fri, 19 Mar 2021 14:30:30 +0100 Subject: [PATCH] Added new release of Isaac driver The new release includes several new features, some of them can be seen here: - New controller that is aware of speedscaling - Codelet that serves as an interface for the dashboard server - Added support for integration of teach-pendant, using the URCap system. --- .ci.rosinstall | 4 - .gitignore | 4 +- .travis.rosinstall | 4 - .travis.yml | 20 - BUILD | 199 ++-- README.md | 224 +++- UniversalRobots.hpp | 177 --- apps/BUILD | 25 +- ...huffle_box_behavior_hardware.subgraph.json | 318 +++++ apps/shuffle_box_hardware.py | 124 +- apps/simple_joint_control.ipynb | 272 +++-- controller_stopper/BUILD | 16 + controller_stopper/ControllerStopper.cpp | 77 ++ controller_stopper/ControllerStopper.hpp | 83 ++ controller_stopper/README.md | 10 + ur_controller/BUILD | 42 + ur_controller/JointSegment.cpp | 178 +++ ur_controller/JointSegment.hpp | 156 +++ ur_controller/JointTrajectory.cpp | 91 ++ ur_controller/JointTrajectory.hpp | 86 ++ ur_controller/Pid.hpp | 229 ++++ ur_controller/README.md | 111 ++ ur_controller/ScaledMultiJointController.cpp | 409 +++++++ ur_controller/ScaledMultiJointController.hpp | 290 +++++ ur_controller/apps/BUILD | 13 + ...caled_multi_joint_ur_control.subgraph.json | 110 ++ ur_controller/doc/traj_with_speed_scaling.png | Bin 0 -> 27194 bytes .../doc/traj_without_speed_scaling.png | Bin 0 -> 30599 bytes ur_controller/tests/BUILD | 12 + ur_controller/tests/JointSegment.cpp | 344 ++++++ ur_controller/tests/JointTrajectory.cpp | 249 ++++ ur_controller/tests/Pid.cpp | 189 +++ .../tests/ScaledMultiJointController.cpp | 646 +++++++++++ ur_msg/BUILD | 40 + ur_msg/README.md | 628 ++++++++++ ur_msg/dashboardCommand.cpp | 185 +++ ur_msg/dashboardCommand.hpp | 98 ++ ur_msg/dashboard_command.capnp | 91 ++ ur_msg/speed_slider.capnp | 39 + ur_msg/ur_msg_python.py | 74 ++ ur_robot_driver/CHANGELOG.rst | 22 - ur_robot_driver/CMakeLists.txt | 66 -- ur_robot_driver/DashboardClientIsaac.cpp | 314 +++++ ur_robot_driver/DashboardClientIsaac.hpp | 130 +++ ur_robot_driver/LICENSE | 180 --- ur_robot_driver/README.md | 212 +++- .../UniversalRobots.cpp | 375 ++++-- ur_robot_driver/UniversalRobots.hpp | 398 +++++++ ur_robot_driver/UrclLogHandler.cpp | 88 ++ ur_robot_driver/UrclLogHandler.hpp | 75 ++ ur_robot_driver/apps/BUILD | 33 + .../apps/ur_cb3_robot.subgraph.json | 243 ++++ .../apps/ur_eseries_robot.subgraph.json | 243 ++++ ur_robot_driver/config/ur10_controllers.yaml | 141 --- ur_robot_driver/config/ur10e_controllers.yaml | 141 --- ur_robot_driver/config/ur3_controllers.yaml | 142 --- ur_robot_driver/config/ur3e_controllers.yaml | 141 --- ur_robot_driver/config/ur5_controllers.yaml | 141 --- ur_robot_driver/config/ur5e_controllers.yaml | 141 --- ur_robot_driver/doc/ROS_INTERFACE.md | 1023 ----------------- ur_robot_driver/doc/architecture_coarse.svg | 4 +- ur_robot_driver/doc/component_api.md | 203 ++++ ur_robot_driver/doc/features.md | 34 - .../doc/initial_setup_images/e-Series.jpg | Bin 0 -> 42289 bytes .../doc/initial_setup_images/e-Series.png | Bin 208062 -> 0 bytes ur_robot_driver/doc/install_urcap_cb3.md | 4 +- ur_robot_driver/doc/install_urcap_e_series.md | 15 +- ur_robot_driver/doc/real_time.md | 282 ----- ur_robot_driver/doc/rosdoc.yaml | 4 - ur_robot_driver/doc/sample_applications.md | 177 +++ .../doc/setup_tool_communication.md | 48 - ur_robot_driver/doc/tutorial/cell_3.png | Bin 0 -> 236105 bytes ur_robot_driver/doc/tutorial/cell_4.png | Bin 0 -> 262401 bytes .../doc/tutorial/notebook_after_running.png | Bin 0 -> 310160 bytes ur_robot_driver/hardware_interface_plugin.xml | 7 - .../include/ur_robot_driver/comm/bin_parser.h | 376 ------ .../include/ur_robot_driver/comm/package.h | 74 -- .../ur_robot_driver/comm/package_serializer.h | 134 --- .../include/ur_robot_driver/comm/parser.h | 58 - .../include/ur_robot_driver/comm/pipeline.h | 451 -------- .../include/ur_robot_driver/comm/producer.h | 141 --- .../ur_robot_driver/comm/reverse_interface.h | 162 --- .../ur_robot_driver/comm/script_sender.h | 138 --- .../include/ur_robot_driver/comm/server.h | 104 -- .../ur_robot_driver/comm/shell_consumer.h | 70 -- .../include/ur_robot_driver/comm/stream.h | 158 --- .../include/ur_robot_driver/comm/tcp_socket.h | 151 --- .../include/ur_robot_driver/exceptions.h | 127 -- ur_robot_driver/include/ur_robot_driver/log.h | 43 - .../ur_robot_driver/primary/package_header.h | 84 -- .../ur_robot_driver/primary/primary_package.h | 79 -- .../ur_robot_driver/primary/primary_parser.h | 186 --- .../ur_robot_driver/primary/robot_message.h | 95 -- .../primary/robot_message/version_message.h | 83 -- .../ur_robot_driver/primary/robot_state.h | 107 -- .../primary/robot_state/kinematics_info.h | 91 -- .../primary/robot_state/master_board.h | 117 -- .../primary/robot_state/robot_mode_data.h | 108 -- .../include/ur_robot_driver/queue/LICENSE.md | 28 - .../include/ur_robot_driver/queue/atomicops.h | 738 ------------ .../ur_robot_driver/queue/readerwriterqueue.h | 865 -------------- .../rtde/control_package_pause.h | 89 -- .../rtde/control_package_setup_inputs.h | 105 -- .../rtde/control_package_setup_outputs.h | 120 -- .../rtde/control_package_start.h | 101 -- .../ur_robot_driver/rtde/data_package.h | 238 ---- .../rtde/get_urcontrol_version.h | 106 -- .../ur_robot_driver/rtde/package_header.h | 100 -- .../rtde/request_protocol_version.h | 106 -- .../ur_robot_driver/rtde/rtde_client.h | 155 --- .../ur_robot_driver/rtde/rtde_package.h | 79 -- .../ur_robot_driver/rtde/rtde_parser.h | 159 --- .../ur_robot_driver/rtde/rtde_writer.h | 128 --- .../ur_robot_driver/rtde/text_message.h | 84 -- .../include/ur_robot_driver/types.h | 62 - .../ur_robot_driver/ur/calibration_checker.h | 104 -- .../ur_robot_driver/ur/dashboard_client.h | 100 -- .../include/ur_robot_driver/ur/datatypes.h | 180 --- .../ur_robot_driver/ur/tool_communication.h | 248 ---- .../include/ur_robot_driver/ur/ur_driver.h | 240 ---- .../ur_robot_driver/ur/version_information.h | 60 - ur_robot_driver/package.xml | 55 - .../resources/externalcontrol-1.0.1.urcap | Bin 32062 -> 0 bytes .../resources/externalcontrol-1.0.5.urcap | Bin 0 -> 35287 bytes .../resources/ros_control.urscript | 48 +- ur_robot_driver/resources/rs485-1.0.urcap | Bin 141984 -> 0 bytes .../resources/rtde_output_recipe.txt | 5 +- ur_robot_driver/scripts/tool_communication | 38 - ur_robot_driver/src/comm/server.cpp | 156 --- ur_robot_driver/src/comm/tcp_socket.cpp | 217 ---- .../src/primary/primary_package.cpp | 54 - ur_robot_driver/src/primary/robot_message.cpp | 49 - .../primary/robot_message/version_message.cpp | 61 - .../primary/robot_state/kinematics_info.cpp | 105 -- .../src/rtde/control_package_pause.cpp | 48 - .../src/rtde/control_package_setup_inputs.cpp | 70 -- .../rtde/control_package_setup_outputs.cpp | 92 -- .../src/rtde/control_package_start.cpp | 53 - ur_robot_driver/src/rtde/data_package.cpp | 295 ----- .../src/rtde/get_urcontrol_version.cpp | 57 - .../src/rtde/request_protocol_version.cpp | 57 - ur_robot_driver/src/rtde/rtde_client.cpp | 221 ---- ur_robot_driver/src/rtde/rtde_package.cpp | 53 - ur_robot_driver/src/rtde/rtde_writer.cpp | 202 ---- ur_robot_driver/src/rtde/text_message.cpp | 62 - .../src/ur/calibration_checker.cpp | 47 - ur_robot_driver/src/ur/dashboard_client.cpp | 109 -- ur_robot_driver/src/ur/tool_communication.cpp | 53 - ur_robot_driver/src/ur/ur_driver.cpp | 333 ------ ur_robot_driver/tests/BUILD | 59 + .../tests/external_control_test.py | 140 +++ .../tests/scaled_trajectory_test.py | 172 +++ ur_robot_driver/tests/tool_io_test.py | 85 ++ ur_robot_driver/tests/trajectory_test.py | 157 +++ .../tests/utils/external_control.urp | Bin 0 -> 1219 bytes ur_robot_driver/tests/utils/test_utils.py | 56 + ur_robot_driver/tests/utils/ur_msg.py | 46 + 157 files changed, 8532 insertions(+), 12949 deletions(-) delete mode 100644 .ci.rosinstall delete mode 100644 .travis.rosinstall delete mode 100644 .travis.yml delete mode 100644 UniversalRobots.hpp create mode 100644 apps/shuffle_box_behavior_hardware.subgraph.json create mode 100644 controller_stopper/BUILD create mode 100644 controller_stopper/ControllerStopper.cpp create mode 100644 controller_stopper/ControllerStopper.hpp create mode 100644 controller_stopper/README.md create mode 100644 ur_controller/BUILD create mode 100644 ur_controller/JointSegment.cpp create mode 100644 ur_controller/JointSegment.hpp create mode 100644 ur_controller/JointTrajectory.cpp create mode 100644 ur_controller/JointTrajectory.hpp create mode 100644 ur_controller/Pid.hpp create mode 100644 ur_controller/README.md create mode 100644 ur_controller/ScaledMultiJointController.cpp create mode 100644 ur_controller/ScaledMultiJointController.hpp create mode 100644 ur_controller/apps/BUILD create mode 100644 ur_controller/apps/scaled_multi_joint_ur_control.subgraph.json create mode 100644 ur_controller/doc/traj_with_speed_scaling.png create mode 100644 ur_controller/doc/traj_without_speed_scaling.png create mode 100644 ur_controller/tests/BUILD create mode 100644 ur_controller/tests/JointSegment.cpp create mode 100644 ur_controller/tests/JointTrajectory.cpp create mode 100644 ur_controller/tests/Pid.cpp create mode 100644 ur_controller/tests/ScaledMultiJointController.cpp create mode 100644 ur_msg/BUILD create mode 100644 ur_msg/README.md create mode 100644 ur_msg/dashboardCommand.cpp create mode 100644 ur_msg/dashboardCommand.hpp create mode 100644 ur_msg/dashboard_command.capnp create mode 100644 ur_msg/speed_slider.capnp create mode 100644 ur_msg/ur_msg_python.py delete mode 100644 ur_robot_driver/CHANGELOG.rst delete mode 100644 ur_robot_driver/CMakeLists.txt create mode 100644 ur_robot_driver/DashboardClientIsaac.cpp create mode 100644 ur_robot_driver/DashboardClientIsaac.hpp delete mode 100644 ur_robot_driver/LICENSE rename UniversalRobots.cpp => ur_robot_driver/UniversalRobots.cpp (53%) create mode 100644 ur_robot_driver/UniversalRobots.hpp create mode 100644 ur_robot_driver/UrclLogHandler.cpp create mode 100644 ur_robot_driver/UrclLogHandler.hpp create mode 100644 ur_robot_driver/apps/BUILD create mode 100644 ur_robot_driver/apps/ur_cb3_robot.subgraph.json create mode 100644 ur_robot_driver/apps/ur_eseries_robot.subgraph.json delete mode 100644 ur_robot_driver/config/ur10_controllers.yaml delete mode 100644 ur_robot_driver/config/ur10e_controllers.yaml delete mode 100644 ur_robot_driver/config/ur3_controllers.yaml delete mode 100644 ur_robot_driver/config/ur3e_controllers.yaml delete mode 100644 ur_robot_driver/config/ur5_controllers.yaml delete mode 100644 ur_robot_driver/config/ur5e_controllers.yaml delete mode 100644 ur_robot_driver/doc/ROS_INTERFACE.md create mode 100644 ur_robot_driver/doc/component_api.md delete mode 100644 ur_robot_driver/doc/features.md create mode 100644 ur_robot_driver/doc/initial_setup_images/e-Series.jpg delete mode 100644 ur_robot_driver/doc/initial_setup_images/e-Series.png delete mode 100644 ur_robot_driver/doc/real_time.md delete mode 100644 ur_robot_driver/doc/rosdoc.yaml create mode 100644 ur_robot_driver/doc/sample_applications.md delete mode 100644 ur_robot_driver/doc/setup_tool_communication.md create mode 100644 ur_robot_driver/doc/tutorial/cell_3.png create mode 100644 ur_robot_driver/doc/tutorial/cell_4.png create mode 100644 ur_robot_driver/doc/tutorial/notebook_after_running.png delete mode 100644 ur_robot_driver/hardware_interface_plugin.xml delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/bin_parser.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/package.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/package_serializer.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/parser.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/pipeline.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/producer.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/reverse_interface.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/script_sender.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/server.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/shell_consumer.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/stream.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/comm/tcp_socket.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/exceptions.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/log.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/primary/package_header.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/primary/primary_package.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/primary/primary_parser.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/primary/robot_message.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/primary/robot_message/version_message.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/primary/robot_state.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/primary/robot_state/kinematics_info.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/primary/robot_state/master_board.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/primary/robot_state/robot_mode_data.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/queue/LICENSE.md delete mode 100644 ur_robot_driver/include/ur_robot_driver/queue/atomicops.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/queue/readerwriterqueue.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/control_package_pause.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_inputs.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_outputs.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/control_package_start.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/data_package.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/get_urcontrol_version.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/package_header.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/request_protocol_version.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/rtde_client.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/rtde_package.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/rtde_parser.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/rtde_writer.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/rtde/text_message.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/types.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/ur/calibration_checker.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/ur/dashboard_client.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/ur/datatypes.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/ur/tool_communication.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h delete mode 100644 ur_robot_driver/include/ur_robot_driver/ur/version_information.h delete mode 100644 ur_robot_driver/package.xml delete mode 100644 ur_robot_driver/resources/externalcontrol-1.0.1.urcap create mode 100644 ur_robot_driver/resources/externalcontrol-1.0.5.urcap delete mode 100644 ur_robot_driver/resources/rs485-1.0.urcap delete mode 100755 ur_robot_driver/scripts/tool_communication delete mode 100644 ur_robot_driver/src/comm/server.cpp delete mode 100644 ur_robot_driver/src/comm/tcp_socket.cpp delete mode 100644 ur_robot_driver/src/primary/primary_package.cpp delete mode 100644 ur_robot_driver/src/primary/robot_message.cpp delete mode 100644 ur_robot_driver/src/primary/robot_message/version_message.cpp delete mode 100644 ur_robot_driver/src/primary/robot_state/kinematics_info.cpp delete mode 100644 ur_robot_driver/src/rtde/control_package_pause.cpp delete mode 100644 ur_robot_driver/src/rtde/control_package_setup_inputs.cpp delete mode 100644 ur_robot_driver/src/rtde/control_package_setup_outputs.cpp delete mode 100644 ur_robot_driver/src/rtde/control_package_start.cpp delete mode 100644 ur_robot_driver/src/rtde/data_package.cpp delete mode 100644 ur_robot_driver/src/rtde/get_urcontrol_version.cpp delete mode 100644 ur_robot_driver/src/rtde/request_protocol_version.cpp delete mode 100644 ur_robot_driver/src/rtde/rtde_client.cpp delete mode 100644 ur_robot_driver/src/rtde/rtde_package.cpp delete mode 100644 ur_robot_driver/src/rtde/rtde_writer.cpp delete mode 100644 ur_robot_driver/src/rtde/text_message.cpp delete mode 100644 ur_robot_driver/src/ur/calibration_checker.cpp delete mode 100644 ur_robot_driver/src/ur/dashboard_client.cpp delete mode 100644 ur_robot_driver/src/ur/tool_communication.cpp delete mode 100644 ur_robot_driver/src/ur/ur_driver.cpp create mode 100644 ur_robot_driver/tests/BUILD create mode 100644 ur_robot_driver/tests/external_control_test.py create mode 100644 ur_robot_driver/tests/scaled_trajectory_test.py create mode 100644 ur_robot_driver/tests/tool_io_test.py create mode 100644 ur_robot_driver/tests/trajectory_test.py create mode 100644 ur_robot_driver/tests/utils/external_control.urp create mode 100644 ur_robot_driver/tests/utils/test_utils.py create mode 100644 ur_robot_driver/tests/utils/ur_msg.py diff --git a/.ci.rosinstall b/.ci.rosinstall deleted file mode 100644 index 8ae4ce4..0000000 --- a/.ci.rosinstall +++ /dev/null @@ -1,4 +0,0 @@ -- git: - uri: https://github.com/fmauch/universal_robot.git - local-name: universal_robot - version: calibration_devel diff --git a/.gitignore b/.gitignore index 820cab7..b8a02a7 100644 --- a/.gitignore +++ b/.gitignore @@ -6,4 +6,6 @@ install_manifest.txt *~ .idea .directory -.vscode \ No newline at end of file +.vscode +__pycache__ +ur_client_library \ No newline at end of file diff --git a/.travis.rosinstall b/.travis.rosinstall deleted file mode 100644 index 3afb542..0000000 --- a/.travis.rosinstall +++ /dev/null @@ -1,4 +0,0 @@ -- git: - local-name: universal_robot - uri: 'https://github.com/fmauch/universal_robot.git' - version: calibration_devel diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 4638111..0000000 --- a/.travis.yml +++ /dev/null @@ -1,20 +0,0 @@ -language: generic -services: - - docker - -cache: - directories: - - $HOME/.ccache - -env: - global: - - CCACHE_DIR=$HOME/.ccache - matrix: - - ROS_DISTRO="kinetic" ROS_REPO=ros UPSTREAM_WORKSPACE=file - - ROS_DISTRO="melodic" ROS_REPO=ros UPSTREAM_WORKSPACE=file - - ROS_DISTRO="kinetic" CLANG_FORMAT_CHECK=file CLANG_FORMAT_VERSION=6.0 - -install: - - git clone --depth=1 https://github.com/ros-industrial/industrial_ci.git .ci_config -script: - - .ci_config/travis.sh diff --git a/BUILD b/BUILD index 0fe2996..d8a164d 100644 --- a/BUILD +++ b/BUILD @@ -1,94 +1,109 @@ -load("//engine/build:isaac.bzl", "isaac_cc_module") +load("//bzl:module.bzl", "isaac_cc_module") - filegroup(name = "universal_robots_resources", - data = - [ - "ur_robot_driver/resources/ros_control.urscript", - "ur_robot_driver/resources/rtde_input_recipe.txt", - "ur_robot_driver/resources/rtde_output_recipe.txt", - ], - visibility = ["//visibility:public"], ) +filegroup( + name = "universal_robots_resources", + data = [ + "ur_robot_driver/resources/ros_control.urscript", + "ur_robot_driver/resources/rtde_input_recipe.txt", + "ur_robot_driver/resources/rtde_output_recipe.txt", + ], + visibility = ["//visibility:public"], +) - isaac_cc_module(name = "universal_robots", - srcs = - [ - "UniversalRobots.cpp", - "ur_robot_driver/src/comm/server.cpp", - "ur_robot_driver/src/comm/tcp_socket.cpp", - "ur_robot_driver/src/primary/primary_package.cpp", - "ur_robot_driver/src/primary/robot_message.cpp", - "ur_robot_driver/src/primary/robot_message/version_message.cpp", - "ur_robot_driver/src/primary/robot_state/kinematics_info.cpp", - "ur_robot_driver/src/rtde/control_package_pause.cpp", - "ur_robot_driver/src/rtde/control_package_setup_inputs.cpp", - "ur_robot_driver/src/rtde/control_package_setup_outputs.cpp", - "ur_robot_driver/src/rtde/control_package_start.cpp", - "ur_robot_driver/src/rtde/data_package.cpp", - "ur_robot_driver/src/rtde/get_urcontrol_version.cpp", - "ur_robot_driver/src/rtde/request_protocol_version.cpp", - "ur_robot_driver/src/rtde/rtde_client.cpp", - "ur_robot_driver/src/rtde/rtde_package.cpp", - "ur_robot_driver/src/rtde/rtde_writer.cpp", - "ur_robot_driver/src/rtde/text_message.cpp", - "ur_robot_driver/src/ur/calibration_checker.cpp", - "ur_robot_driver/src/ur/dashboard_client.cpp", - "ur_robot_driver/src/ur/tool_communication.cpp", - "ur_robot_driver/src/ur/ur_driver.cpp", - ], - hdrs = - [ - "UniversalRobots.hpp", - "ur_robot_driver/include/ur_robot_driver/comm/bin_parser.h", - "ur_robot_driver/include/ur_robot_driver/comm/package.h", - "ur_robot_driver/include/ur_robot_driver/comm/package_serializer.h", - "ur_robot_driver/include/ur_robot_driver/comm/parser.h", - "ur_robot_driver/include/ur_robot_driver/comm/pipeline.h", - "ur_robot_driver/include/ur_robot_driver/comm/producer.h", - "ur_robot_driver/include/ur_robot_driver/comm/reverse_interface.h", - "ur_robot_driver/include/ur_robot_driver/comm/script_sender.h", - "ur_robot_driver/include/ur_robot_driver/comm/server.h", - "ur_robot_driver/include/ur_robot_driver/comm/shell_consumer.h", - "ur_robot_driver/include/ur_robot_driver/comm/stream.h", - "ur_robot_driver/include/ur_robot_driver/comm/tcp_socket.h", - "ur_robot_driver/include/ur_robot_driver/exceptions.h", - "ur_robot_driver/include/ur_robot_driver/log.h", - "ur_robot_driver/include/ur_robot_driver/primary/package_header.h", - "ur_robot_driver/include/ur_robot_driver/primary/primary_package.h", - "ur_robot_driver/include/ur_robot_driver/primary/primary_parser.h", - "ur_robot_driver/include/ur_robot_driver/primary/robot_message.h", - "ur_robot_driver/include/ur_robot_driver/primary/robot_message/version_message.h", - "ur_robot_driver/include/ur_robot_driver/primary/robot_state.h", - "ur_robot_driver/include/ur_robot_driver/primary/robot_state/kinematics_info.h", - "ur_robot_driver/include/ur_robot_driver/primary/robot_state/master_board.h", - "ur_robot_driver/include/ur_robot_driver/primary/robot_state/robot_mode_data.h", - "ur_robot_driver/include/ur_robot_driver/queue/atomicops.h", - "ur_robot_driver/include/ur_robot_driver/queue/readerwriterqueue.h", - "ur_robot_driver/include/ur_robot_driver/rtde/control_package_pause.h", - "ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_inputs.h", - "ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_outputs.h", - "ur_robot_driver/include/ur_robot_driver/rtde/control_package_start.h", - "ur_robot_driver/include/ur_robot_driver/rtde/data_package.h", - "ur_robot_driver/include/ur_robot_driver/rtde/get_urcontrol_version.h", - "ur_robot_driver/include/ur_robot_driver/rtde/package_header.h", - "ur_robot_driver/include/ur_robot_driver/rtde/request_protocol_version.h", - "ur_robot_driver/include/ur_robot_driver/rtde/rtde_client.h", - "ur_robot_driver/include/ur_robot_driver/rtde/rtde_package.h", - "ur_robot_driver/include/ur_robot_driver/rtde/rtde_parser.h", - "ur_robot_driver/include/ur_robot_driver/rtde/rtde_writer.h", - "ur_robot_driver/include/ur_robot_driver/rtde/text_message.h", - "ur_robot_driver/include/ur_robot_driver/types.h", - "ur_robot_driver/include/ur_robot_driver/ur/calibration_checker.h", - "ur_robot_driver/include/ur_robot_driver/ur/dashboard_client.h", - "ur_robot_driver/include/ur_robot_driver/ur/datatypes.h", - "ur_robot_driver/include/ur_robot_driver/ur/tool_communication.h", - "ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h", - "ur_robot_driver/include/ur_robot_driver/ur/version_information.h", - ], - copts = ["-Ipackages/universal_robots/ur_robot_driver/include"], - data = ["//packages/universal_robots:universal_robots_resources"], defines = ["BAZEL_BUILD"], - visibility = ["//visibility:public"], deps = [ - "//engine/gems/kinematic_tree", - "//packages/composite/gems:parser", - "//packages/map:kinematic_tree", - "@boost//:variant", - ], ) +isaac_cc_module( + name = "universal_robots", + srcs = [ + "ur_robot_driver/UniversalRobots.cpp", + "ur_robot_driver/DashboardClientIsaac.cpp", + "ur_robot_driver/UrclLogHandler.cpp", + "ur_client_library/src/log.cpp", + "ur_client_library/src/default_log_handler.cpp", + "ur_client_library/src/comm/tcp_server.cpp", + "ur_client_library/src/comm/tcp_socket.cpp", + "ur_client_library/src/primary/primary_package.cpp", + "ur_client_library/src/primary/robot_message.cpp", + "ur_client_library/src/primary/robot_state.cpp", + "ur_client_library/src/primary/robot_message/version_message.cpp", + "ur_client_library/src/primary/robot_state/kinematics_info.cpp", + "ur_client_library/src/rtde/control_package_pause.cpp", + "ur_client_library/src/rtde/control_package_setup_inputs.cpp", + "ur_client_library/src/rtde/control_package_setup_outputs.cpp", + "ur_client_library/src/rtde/control_package_start.cpp", + "ur_client_library/src/rtde/data_package.cpp", + "ur_client_library/src/rtde/get_urcontrol_version.cpp", + "ur_client_library/src/rtde/request_protocol_version.cpp", + "ur_client_library/src/rtde/rtde_client.cpp", + "ur_client_library/src/rtde/rtde_package.cpp", + "ur_client_library/src/rtde/rtde_writer.cpp", + "ur_client_library/src/rtde/text_message.cpp", + "ur_client_library/src/ur/calibration_checker.cpp", + "ur_client_library/src/ur/dashboard_client.cpp", + "ur_client_library/src/ur/tool_communication.cpp", + "ur_client_library/src/ur/ur_driver.cpp", + ], + hdrs = [ + "ur_robot_driver/UniversalRobots.hpp", + "ur_robot_driver/DashboardClientIsaac.hpp", + "ur_robot_driver/UrclLogHandler.hpp", + "ur_client_library/include/ur_client_library/comm/bin_parser.h", + "ur_client_library/include/ur_client_library/comm/package.h", + "ur_client_library/include/ur_client_library/comm/package_serializer.h", + "ur_client_library/include/ur_client_library/comm/parser.h", + "ur_client_library/include/ur_client_library/comm/pipeline.h", + "ur_client_library/include/ur_client_library/comm/producer.h", + "ur_client_library/include/ur_client_library/comm/reverse_interface.h", + "ur_client_library/include/ur_client_library/comm/script_sender.h", + "ur_client_library/include/ur_client_library/comm/tcp_server.h", + "ur_client_library/include/ur_client_library/comm/shell_consumer.h", + "ur_client_library/include/ur_client_library/comm/stream.h", + "ur_client_library/include/ur_client_library/comm/tcp_socket.h", + "ur_client_library/include/ur_client_library/exceptions.h", + "ur_client_library/include/ur_client_library/log.h", + "ur_client_library/include/ur_client_library/default_log_handler.h", + "ur_client_library/include/ur_client_library/primary/abstract_primary_consumer.h", + "ur_client_library/include/ur_client_library/primary/package_header.h", + "ur_client_library/include/ur_client_library/primary/primary_package.h", + "ur_client_library/include/ur_client_library/primary/primary_parser.h", + "ur_client_library/include/ur_client_library/primary/robot_message.h", + "ur_client_library/include/ur_client_library/primary/robot_message/version_message.h", + "ur_client_library/include/ur_client_library/primary/robot_state.h", + "ur_client_library/include/ur_client_library/primary/robot_state/kinematics_info.h", + "ur_client_library/include/ur_client_library/queue/atomicops.h", + "ur_client_library/include/ur_client_library/queue/readerwriterqueue.h", + "ur_client_library/include/ur_client_library/rtde/control_package_pause.h", + "ur_client_library/include/ur_client_library/rtde/control_package_setup_inputs.h", + "ur_client_library/include/ur_client_library/rtde/control_package_setup_outputs.h", + "ur_client_library/include/ur_client_library/rtde/control_package_start.h", + "ur_client_library/include/ur_client_library/rtde/data_package.h", + "ur_client_library/include/ur_client_library/rtde/get_urcontrol_version.h", + "ur_client_library/include/ur_client_library/rtde/package_header.h", + "ur_client_library/include/ur_client_library/rtde/request_protocol_version.h", + "ur_client_library/include/ur_client_library/rtde/rtde_client.h", + "ur_client_library/include/ur_client_library/rtde/rtde_package.h", + "ur_client_library/include/ur_client_library/rtde/rtde_parser.h", + "ur_client_library/include/ur_client_library/rtde/rtde_writer.h", + "ur_client_library/include/ur_client_library/rtde/text_message.h", + "ur_client_library/include/ur_client_library/types.h", + "ur_client_library/include/ur_client_library/ur/calibration_checker.h", + "ur_client_library/include/ur_client_library/ur/dashboard_client.h", + "ur_client_library/include/ur_client_library/ur/datatypes.h", + "ur_client_library/include/ur_client_library/ur/tool_communication.h", + "ur_client_library/include/ur_client_library/ur/ur_driver.h", + "ur_client_library/include/ur_client_library/ur/version_information.h", + ], + copts = ["-Ipackages/universal_robots/ur_client_library/include"], + data = ["//packages/universal_robots:universal_robots_resources"], + defines = ["ISAAC_BUILD"], + visibility = ["//visibility:public"], + deps = [ + "//packages/math/gems/kinematic_tree", + "//packages/composite/gems:parser", + "//packages/map:kinematic_tree", + "@boost//:variant", + "//packages/universal_robots/ur_msg:speed_slider_proto", + "//packages/universal_robots/ur_msg:dashboard_command_proto", + "//packages/universal_robots/ur_msg:dashboard_command", + "//packages/universal_robots/controller_stopper:controller_stopper", + "//packages/composite/gems:serializer", + ], +) \ No newline at end of file diff --git a/README.md b/README.md index 357e04a..2bdcb49 100644 --- a/README.md +++ b/README.md @@ -1,58 +1,210 @@ # Universal_Robots_Isaac_Driver -Universal Robots have become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education. It is the core value of Universal Robots, to empower people to achieve any goal within automation. -
Universal Robot e-Series family
+Universal Robots have become a dominant supplier of lightweight, robotic manipulators +for industry, as well as for scientific research and education. It is the core +value of Universal Robots, to empower people to achieve any goal within automation. -The goal of this driver is to provide a stable and sustainable interface between UR robots and NVIDIA Isaac-SDK that strongly benefit all parties. +
Universal +Robot e-Series family
-NVIDIA Isaac-SDK is the main software toolkit for NVIDIA Robotics. Included in the Isaac SDK is the ability to easily write modular applications and deploy them on UR Robots. +The goal of this driver is to provide a stable and sustainable interface between +UR robots and NVIDIA Isaac-SDK that strongly benefit all parties. -The driver is currently not completed, or intended for industrial use without modification. Contribution is welcome on the driver. +NVIDIA Isaac-SDK is the main software toolkit for NVIDIA Robotics. Included in +the Isaac SDK is the ability to easily write modular applications and deploy them +on UR Robots. -
DISCLAIMER: This robot interface is under development and is not yet as robust as wanted. Documentation is missing and things will change.
+If you would like to help **[fill in the Survey](https://share.hsforms.com/19qJ5MI2WQYeDgfi07VAOUQ1kep1)** - +any feedback, suggestion or contribution - is highly appreciated! +Contribution to the driver are welcome. -## Acknowledgement - - This driver is forked from the [Universal Robots ROS Driver](https://github.com/UniversalRobots/Universal_Robots_ROS_Drive), -which is forked from the [ur_modern_driver](https://github.com/ros-industrial/ur_modern_driver). +## Features + +- Works for all **CB3 (with software version >= 3.7) and e-Series (software >= 5.1)** +UR robot or simulator. Simulator can be found on [Universal Robots website](https://www.universal-robots.com/download/?option=41508#section41493). + +- Can be used with **NVIDIA Jetson hardware platform** see [Universal Robots website](https://www.universal-robots.com/plus/urplus-components/plug-ins-interfaces/jetson-agx-xavier-developer-kit/). + +- Transparent **integration of the teach-pendant**. Using the URCaps system, a program +is running on the robot that handles control commands sent from Isaac side. With +this, the robot can be **paused**, **stopped** and **resumed** without restarting +the Isaac driver. + +- Use the robot's **speed-scaling**. When speed scaling is active due to safety +constraints or the speed slider is used, this gets correctly handled on the Isaac +side, as well slowing down trajectory execution accordingly.
+ **Note**: Other Isaaac-controllers can be used with this driver, but may behave + wrong if the speed slider isn't set to 100% or if + speed scaling slows down the robot. Also, pausing can only be used + when ur_controller is used. + +- **Using UR robots without interacting with the teach pendant** It is possible +to interact with the dashboard server through an Isaac Applications. A codelet serves +as an interface between the dashboardserver on the robot and an Isaac application. +A robot program can e.g. be started and stopped through an Isaac application. For +details see documentation on [DashboardClientIsaac](ur_robot_driver/doc/component_api.md#DashboardClientIsaac) +or documentation on [how to use it](ur_msg/README.md#DashboardClientIsaac-usage). + +## How to report an issue + +If you encounter any bugs or incomplete functionality please report them as issues. + +To create an issue on the [Issue Board](https://github.com/UniversalRobots/Universal_Robots_Isaac_Driver/issues/new) +please use the default template. + +## Contents + +This repository contains the **ur_robot_driver** and a couple of helper packages, +such as: + +- **apps**: Sample applications, which can be used for controlling an UR robot. + +- **controller_stopper**: A small external tool that stops and restarts Isaac-controller +based on the robot's state. This can be helpful when the robot is in a state where +it won't accept commands sent from Isaac. - - NVIDIA for making and maintain the [Isaac-SDK](https://www.nvidia.com/isaac) framework and libraries. As well as contributing to making this driver become reality. +- **ur_controller**: Speed-scaling-aware controller introduced with this driver. -## Recommended Prerequisites - - Can be used on a CB3 (with software version >= 3.7) and e-Series (software >= 5.1) UR robot or simulator. Simulator can be found on Universal Robots website here: https://www.universal-robots.com/download/?option=41508#section41493 +- **ur_msg**: Messages created specific to be used within this driver and to communicate +with this driver. See documentation on how to use [ur_msg in applications](ur_msg/README.md#UR-message-usage) - - Can be used with NVIDIA Jetson hardware platform see here: https://www.universal-robots.com/plus/urplus-components/plug-ins-interfaces/jetson-agx-xavier-developer-kit/ +- **ur_robot_driver**: The actual driver package. +## Requirements -Setup -------------- -1. Download Isaac SDK from https://developer.nvidia.com/isaac-sdk, then - follow the documentation to setup and install dependencies. -2. Clone this repository. -3. In Isaac SDK folder, create a symlink "packages/universal_robots" to - this repository: +This driver requires a system setup with Isaac SDK. Isaac currently only supports +Ubuntu 18.04 LTS with NVIDIA graphics card drivers see here [Isaac SDK prerequisites](https://docs.nvidia.com/isaac/isaac/doc/setup.html#prerequisites). + +The driver requires Isaac SDK version 20202.2. Isaac SDK can be downloaded from +[Isaac download](https://developer.nvidia.com/isaac/downloads), then follow [Isaac setup](https://docs.nvidia.com/isaac/isaac/doc/setup.html) +to install dependencies and set it up. + +## Setting up the driver + +**Note:** The Isaac driver is build on top of a [C++ client +library](https://github.com/UniversalRobots/Universal_Robots_Client_Library) that +abstracts the robot's interfaces. This +library needs to be cloned together with the C++ client library repository for the +driver to work. See the following setup guide: + +1. Create a folder to store the driver and client library + +```bash +$ mkdir isaac_driver && cd isaac_driver ``` -isaac/packages/universal_robots -> /home/username/universal_robots + +2. Clone the [Universal_Robot_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library/tree/boost): + +```bash +$ git clone -b boost https://github.com/UniversalRobots/Universal_Robots_Client_Library.git ``` -4. In Isaac SDK folder, run +3. Clone this repository + +```bash +$ git clone https://github.com/UniversalRobots/Universal_Robots_Isaac_Driver.git ``` -bazel run packages/universal_robots/apps:simple_joint_control + +4. In this repository create a symlink "ur_client_library" to the client library. + +```bash +# /home/username/isaac_driver/Universal_Robots_Isaac_Driver/ur_client_library -> /home/username/isaac_driver/Universal_Robots_Client_Library/ + +$ ln -s /home/username/isaac_driver/Universal_Robots_Client_Library/ /home/username/isaac_driver/Universal_Robots_Isaac_Driver/ur_client_library ``` - This should open a jupyter notebook in browser. Follow instructions - there to manually control joints or digital io channels on the arm. - Remember to update the ip for the arm. -5. A second example repetitively pick and place box between two preset - waypoints. This app assumes a vacuum pump is connected through the - digital io interfaces. Make sure to update the waypoints based on the - actual setup, and make sure the path between the waypoints are - obstacle-free, as the current planner in SDK do not have obstacle - avoidance capability. To run the app: +5. In the Isaac SDK folder create a symlink "packages/universal_robots" to this repository. + +```bash +# /home/username/isaac/sdk/packages/universal_robots -> /home/username/isaac_driver/Universal_Robots_Isaac_Driver +$ ln -s /home/username/isaac_driver/Universal_Robots_Isaac_Driver /home/username/isaac/sdk/packages/universal_robots ``` -bazel run packages/universal_robots/apps:shuffle_box + +## Setup the robot + +For using the *ur_robot_driver* with a real robot you need to install the **externalcontrol-1.0.5.urcap** +which can be found inside the [**resources**](ur_robot_driver/resources/) folder +of this driver. + +**Note**: For installing this URCap a minimal PolyScope version of 3.7 or 5.1 (in +case of e-Series) is necessary. + +For installing the necessary URCap and creating a program, please see the individual +tutorials on how to [setup a CB3 robot](ur_robot_driver/doc/install_urcap_cb3.md) +or how to [setup an e-Series robot](ur_robot_driver/doc/install_urcap_e_series.md). + +Alternatively to use the driver without the URCap you can activate headless_mode, +when starting the driver, see documentation on [headless_mode](ur_robot_driver/README.md#headless-mode). + +## Quick start sample applications + +This driver servers as an interface between Universal Robots and Isaac SDK's application. + +To start any applications, you have to stand in the Isaac SDK folder, see [Nvidias +documentation](https://docs.nvidia.com/isaac/isaac/doc/getting_started.html). This +driver comes with two sample applications, that can be used to control an UR robot. + +For more detailed documentation of launching the applications see the seperate [tutorial](ur_robot_driver/doc/sample_applications.md) + +1. The first [application](/apps/simple_joint_control.ipynb) can be run inside the +Isaac SDK folder, with the following command. Remember that you have +to stand in the `isaac/sdk` folder to launch the application. + + ```bash + $ bazel run packages/universal_robots/apps:simple_joint_control + ``` + + This should open a jupyter notebook in your browser. Follow instructions + there to manually control joints or digital io channels on the arm. + Remember to update the ip for the arm and robot generation. + +2. The second [application](/apps/shuffle_box_hardware.py) repetitively moves between +two preset waypoints. This app assumes a vacuum pump is connected through the digital +io interfaces. Make sure to update the waypoints based on the +actual setup, and make sure the path between the waypoints are obstacle-free. To +run the application, see below. Remember that you have +to stand in the `isaac/sdk` folder to launch the application. + + ```bash + $ bazel run packages/universal_robots/apps:shuffle_box_hardware -- --robot_ip "192.168.56.1" --generation "e-series" --headless_mode false + ``` + + For the parameter robot_ip insert the IP address on which the Isaac driver + can reach the robot. Update generation according to the robot generation + that you are using, generation is one of *e-series or cb3*. The last argument + can be used to enable [headless_mode](ur_robot_driver/README.md#headless-mode) + or not. + +3. Both samples can be run on Jetson. Follow [instructions](https://docs.nvidia.com/isaac/isaac/doc/getting_started.html#deploying-and-running-on-jetson) + to deploy the sample apps. + +4. Follow [Nvidias guide](https://docs.nvidia.com/isaac/isaac/doc/tutorials/building_apps.html) + to build your own applications. + +When running any of the applications above you will see the following error message +in the terminal. + +```bash +2021-04-29 13:07:32.825 ERROR packages/universal_robots/ur_client_library/src/ur/calibration_checker.cpp@50: "The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] for details". ``` -6. Both samples can be run on Jetson. Follow instructions in - https://docs.nvidia.com/isaac/isaac/doc/getting_started.html#deploying-and-running-on-jetson - to deploy the sample apps. + +This error message should just be ignored as the calibration feature is not implemented +in the Isaac driver. The driver works perfectly fine despite this error message. + +Once any of the applications are running you can start the robot program with loaded +URCap. From that moment on the robot is fully functional. You can make use of the +Pause function or even Stop the program. Simply press the Play button +again and the ISAAC driver will reconnect. + +Inside the Application terminal running the driver you should see the output `Robot +ready to receive control commands.` + +## Acknowledgement + +- This driver is forked from the [Universal Robots ROS Driver](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver), +which is forked from the [ur_modern_driver](https://github.com/ros-industrial/ur_modern_driver). + +- NVIDIA for making and maintaining the [Isaac-SDK](https://www.nvidia.com/isaac) +framework and libraries. As well as contributing to making this driver become reality. diff --git a/UniversalRobots.hpp b/UniversalRobots.hpp deleted file mode 100644 index 708a2ff..0000000 --- a/UniversalRobots.hpp +++ /dev/null @@ -1,177 +0,0 @@ -// -- BEGIN LICENSE BLOCK ---------------------------------------------- -// Copyright 2020 Universal Robots A/S -// -// 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. - -// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of -// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS -// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR -// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE -// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY -// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, -// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, -// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the -// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an -// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first -// published, e.g. “2020”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice -// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, -// please contact legal@universal-robots.com. -// -- END LICENSE BLOCK ------------------------------------------------ - -#pragma once -#include -#include -#include -#include - -#include "ur_robot_driver/ur/ur_driver.h" -#include "engine/alice/alice_codelet.hpp" -#include "engine/gems/kinematic_tree/kinematic_tree.hpp" -#include "packages/composite/gems/parser.hpp" -#include "messages/composite.capnp.h" - -namespace isaac -{ -namespace universal_robots -{ -// Available control modes for arm. -enum ArmControlMode -{ - kJointPosition, // Control joints position - kJointSpeed, // Control joints speed - kInvalid = -1 // Invalid control mode, returned from an invalid string in JSON -}; - -// Mapping between each ArmControlMode type and an identifying string. -NLOHMANN_JSON_SERIALIZE_ENUM(ArmControlMode, { { kInvalid, nullptr }, - { kJointPosition, "joint position" }, - { kJointSpeed, "joint " - "speed" } }); - -enum class PausingState -{ - PAUSED, - RUNNING, - RAMPUP -}; - -class UniversalRobots : public isaac::alice::Codelet -{ -public: - void start() override; - void tick() override; - void stop() override; - - // Command for arm, parsed based on control mode - ISAAC_PROTO_RX(CompositeProto, arm_command); - - // Command for arm, parsed based on control mode - ISAAC_PROTO_RX(CompositeProto, io_command); - - // Current state, includes joint angles and speed - ISAAC_PROTO_TX(CompositeProto, arm_state); - - // Current io, includes digital inputs and outputs - ISAAC_PROTO_TX(CompositeProto, io_state); - - // Set control mode for arm. - ISAAC_PARAM(ArmControlMode, control_mode, kJointPosition); - // Name of the node containing the map:KinematicTree component. This is used to obtain the names - // of the joints for parsing/creating composite message. - ISAAC_PARAM(std::string, kinematic_tree); - // Name of the joints for parsing/creating composite message. - ISAAC_PARAM(std::vector, misc_names, std::vector({ "timestamp", "speed_fraction" })); - // Entity name for digital output from the arm to devices on the IO interface. - ISAAC_PARAM(std::vector, tool_digital_out_names, - std::vector({ "tool_digital_out_0", "tool_digital_out_1" })); - // Entity name for digital input to the arm from devices on the IO interface. - ISAAC_PARAM(std::vector, tool_digital_in_names, - std::vector({ "tool_digital_in_0", "tool_digital_in_1" })); - - // Driver settings - ISAAC_PARAM(std::string, robot_ip, "127.0.0.1"); - ISAAC_PARAM(std::string, control_script_program, - "packages/universal_robots/ur_robot_driver/resources/" - "ros_control.urscript"); - ISAAC_PARAM(std::string, rtde_input_recipe, - "packages/universal_robots/ur_robot_driver/resources/" - "rtde_input_recipe.txt"); - ISAAC_PARAM(std::string, rtde_output_recipe, - "packages/universal_robots/ur_robot_driver/resources/" - "rtde_output_recipe.txt"); - -private: - ur_driver::UrDriver* ur_driver; - void handle_program_state(bool program_running); - std::thread RTDEMainLoopTrd; - bool rtde_thread_running; - void RTDEMainLoop(); - - struct RobotState - { - double timestamp; - ur_driver::vector6d_t q, qd; - uint64_t actual_dig_in_bits, actual_dig_out_bits; - double speed_fraction; - }; - - std::mutex robotStateMutex; - bool updateRobotState(); - RobotState latestRobotState; - - PausingState pausing_state_; - double pausing_ramp_up_increment_; - double speed_scaling_combined_; - bool updateSpeedScale(ur_driver::rtde_interface::DataPackage* data_pkg); - - // Validates the kinematic tree object is consistent with the hardware model - bool validateKinematicTree(const kinematic_tree::KinematicTree& model); - - // Request a schema for parsing command based on control mode - void initCommandParser(const ArmControlMode mode); - void initIOCommandParser(); - - // Parse command from Composite message - void parseCommand(const ArmControlMode mode); - void parseIOCommand(); - - // Generate the composite schema for publishing state - void initStateSchema(); - void initIOSchema(); - - // Arm state - void publishRobotState(RobotState state); - void publishIOState(RobotState state); - void publishState(); - - // Cache control mode. If control mode changed, need to reset parser schema. - ArmControlMode control_mode_; - // Cache list of joint names used in the kinematic tree - std::vector joint_names_; - - // Acquire time for most recently received position command - std::optional last_command_time_, last_io_command_time_; - - // Parsers for command message - composite::Parser command_parser_; - composite::Parser io_command_parser_; - - // Cache schema for state message - composite::Schema state_schema_; - composite::Schema io_schema_; -}; - -} // namespace universal_robots -} // namespace isaac - -ISAAC_ALICE_REGISTER_CODELET(isaac::universal_robots::UniversalRobots); diff --git a/apps/BUILD b/apps/BUILD index cb33423..f66a025 100644 --- a/apps/BUILD +++ b/apps/BUILD @@ -1,10 +1,22 @@ -load("//engine/build:isaac.bzl", "isaac_jupyter_app", "isaac_py_app") +load("//bzl:py.bzl", "isaac_jupyter_app", "isaac_py_app") +load("//bzl:module.bzl", "isaac_subgraph") + +isaac_subgraph( + name = "shuffle_box_behavior_hardware_subgraph", + modules = [ + "behavior_tree", + "composite", + ], + subgraph = "shuffle_box_behavior_hardware.subgraph.json", + visibility = ["//visibility:public"], +) isaac_jupyter_app( name = "simple_joint_control", data = [ "//apps/assets/kinematic_trees", - "//packages/planner/apps:multi_joint_lqr_control_subgraph", + "//packages/universal_robots/ur_robot_driver/apps:ur_eseries_robot_subgraph", + "//packages/universal_robots/ur_robot_driver/apps:ur_cb3_robot_subgraph", ], modules = [ "sight", @@ -19,8 +31,9 @@ isaac_py_app( srcs = ["shuffle_box_hardware.py"], data = [ "//apps/assets/kinematic_trees", - "//apps/samples/manipulation:shuffle_box_behavior_subgraph", - "//packages/planner/apps:multi_joint_lqr_control_subgraph", + "//packages/universal_robots/apps:shuffle_box_behavior_hardware_subgraph", + "//packages/universal_robots/ur_robot_driver/apps:ur_eseries_robot_subgraph", + "//packages/universal_robots/ur_robot_driver/apps:ur_cb3_robot_subgraph", ], modules = [ "behavior_tree", @@ -29,6 +42,6 @@ isaac_py_app( "universal_robots", ], deps = [ - "//engine/pyalice", + "//packages/pyalice", ], -) +) \ No newline at end of file diff --git a/apps/shuffle_box_behavior_hardware.subgraph.json b/apps/shuffle_box_behavior_hardware.subgraph.json new file mode 100644 index 0000000..28d224f --- /dev/null +++ b/apps/shuffle_box_behavior_hardware.subgraph.json @@ -0,0 +1,318 @@ +{ + "modules": [ + "behavior_tree", + "composite" + ], + "graph": { + "nodes": [ + { + "name": "interface", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "subgraph", + "type": "isaac::alice::Subgraph" + } + ] + }, + { + "name": "sequence_behavior", + "components": [ + { + "name": "NodeGroup", + "type": "isaac::behavior_tree::NodeGroup" + }, + { + "name": "MemorySequenceBehavior", + "type": "isaac::behavior_tree::MemorySequenceBehavior" + } + ], + "disable_automatic_start": true + }, + { + "name": "repeat_behavior", + "components": [ + { + "name": "NodeGroup", + "type": "isaac::behavior_tree::NodeGroup" + }, + { + "name": "RepeatBehavior", + "type": "isaac::behavior_tree::RepeatBehavior" + } + ], + "disable_automatic_start": true + }, + { + "name": "atlas", + "components": [ + { + "name": "CompositeAtlas", + "type": "isaac::composite::CompositeAtlas" + } + ] + }, + { + "name": "joint_follow_path", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "CompositePublisher", + "type": "isaac::composite::CompositePublisher" + }, + { + "name": "CompositeMetric", + "type": "isaac::composite::CompositeMetric" + }, + { + "name": "FollowPath", + "type": "isaac::composite::FollowPath" + } + ], + "disable_automatic_start": true + }, + { + "name": "suction_follow_path", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "CompositePublisher", + "type": "isaac::composite::CompositePublisher" + }, + { + "name": "CompositeMetric", + "type": "isaac::composite::CompositeMetric" + }, + { + "name": "FollowPath", + "type": "isaac::composite::FollowPath" + } + ], + "disable_automatic_start": true + }, + { + "name": "config_cart_to_dolly", + "components": [ + { + "name": "ConfigLoader", + "type": "isaac::alice::ConfigLoader" + } + ], + "disable_automatic_start": true + }, + { + "name": "config_dolly_to_cart", + "components": [ + { + "name": "ConfigLoader", + "type": "isaac::alice::ConfigLoader" + } + ], + "disable_automatic_start": true + }, + { + "name": "config_dolly_lift", + "components": [ + { + "name": "ConfigLoader", + "type": "isaac::alice::ConfigLoader" + } + ], + "disable_automatic_start": true + }, + { + "name": "config_cart_lift", + "components": [ + { + "name": "ConfigLoader", + "type": "isaac::alice::ConfigLoader" + } + ], + "disable_automatic_start": true + }, + { + "name": "config_pickup", + "components": [ + { + "name": "ConfigLoader", + "type": "isaac::alice::ConfigLoader" + } + ], + "disable_automatic_start": true + }, + { + "name": "config_dropoff", + "components": [ + { + "name": "ConfigLoader", + "type": "isaac::alice::ConfigLoader" + } + ], + "disable_automatic_start": true + } + ], + "edges": [ + { + "source": "joint_follow_path/CompositePublisher/path", + "target": "joint_follow_path/FollowPath/path" + }, + { + "source": "joint_follow_path/FollowPath/goal", + "target": "interface/subgraph/joint_target" + }, + { + "source": "interface/subgraph/joint_state", + "target": "joint_follow_path/FollowPath/state" + }, + { + "source": "suction_follow_path/CompositePublisher/path", + "target": "suction_follow_path/FollowPath/path" + }, + { + "source": "suction_follow_path/FollowPath/goal", + "target": "interface/subgraph/io_command" + }, + { + "source": "interface/subgraph/io_state", + "target": "suction_follow_path/FollowPath/state" + } + ] + }, + "config": { + "sequence_behavior": { + "NodeGroup": { + "node_names": [ + "$(fullname config_cart_lift)", + "$(fullname joint_follow_path)", + "$(fullname config_pickup)", + "$(fullname suction_follow_path)", + "$(fullname config_cart_to_dolly)", + "$(fullname joint_follow_path)", + "$(fullname config_dropoff)", + "$(fullname suction_follow_path)", + "$(fullname config_dolly_lift)", + "$(fullname joint_follow_path)", + "$(fullname config_pickup)", + "$(fullname suction_follow_path)", + "$(fullname config_dolly_to_cart)", + "$(fullname joint_follow_path)", + "$(fullname config_dropoff)", + "$(fullname suction_follow_path)" + ] + } + }, + "repeat_behavior": { + "NodeGroup": { + "node_names": [ + "$(fullname sequence_behavior)" + ] + } + }, + "joint_follow_path": { + "CompositePublisher": { + "tick_period": "30Hz", + "atlas": "$(fullname atlas/CompositeAtlas)", + "report_success": true + }, + "FollowPath": { + "tick_period": "10Hz", + "wait_time": 1.0, + "tolerance": 0.1 + } + }, + "suction_follow_path": { + "CompositePublisher": { + "tick_period": "30Hz", + "atlas": "$(fullname atlas/CompositeAtlas)", + "report_success": true + }, + "CompositeMetric": { + "use_config_schema": true, + "schema": { + "entity": ["pump", "valve"], + "measure": "none" + } + }, + "FollowPath": { + "tick_period": "10Hz", + "wait_time": 0.5, + "tolerance": 0.1 + } + }, + "config_cart_lift": { + "ConfigLoader": { + "config": { + "behavior.joint_follow_path": { + "CompositePublisher": { + "path": ["cart_observe", "cart_align", "cart_dropoff"] + } + } + } + } + }, + "config_dolly_lift": { + "ConfigLoader": { + "config": { + "behavior.joint_follow_path": { + "CompositePublisher": { + "path": ["dolly_observe", "dolly_align", "dolly_dropoff"] + } + } + } + } + }, + "config_cart_to_dolly": { + "ConfigLoader": { + "config": { + "behavior.joint_follow_path": { + "CompositePublisher": { + "path": ["cart_align", "cart_observe", "dolly_observe", "dolly_align", "dolly_dropoff"] + } + } + } + } + }, + "config_dolly_to_cart": { + "ConfigLoader": { + "config": { + "behavior.joint_follow_path": { + "CompositePublisher": { + "path": ["dolly_align", "dolly_observe", "cart_observe", "cart_align", "cart_dropoff"] + } + } + } + } + }, + "config_pickup": { + "ConfigLoader": { + "config": { + "behavior.suction_follow_path": { + "CompositePublisher": { + "path": ["suction_on"] + } + } + } + } + }, + "config_dropoff": { + "ConfigLoader": { + "config": { + "behavior.suction_follow_path": { + "CompositePublisher": { + "path": ["suction_off", "valve_off"] + } + } + } + } + } + } +} \ No newline at end of file diff --git a/apps/shuffle_box_hardware.py b/apps/shuffle_box_hardware.py index dd9d5da..011cb5b 100644 --- a/apps/shuffle_box_hardware.py +++ b/apps/shuffle_box_hardware.py @@ -1,14 +1,14 @@ import numpy as np import argparse import json +import time -from engine.pyalice import Application, Cask -from engine.pyalice.Composite import create_composite_message +from isaac import Application, Cask +from packages.pyalice.Composite import create_composite_message ''' Moves a robot arm based on joint waypoints to pickup and dropoff a box between two pre-defined -locations repeatedly. In the UR10 use case it also visualizes 3d pose estimation of KLTSmall -boxes in Sight, though the perception result is not used in motion control. This is tested with -omniverse kit isaac sim. +locations repeatedly. This app assumes a vacuum pump is connected through the digital +io interfaces. This is tested with a robot, without a gripper connected. ''' @@ -20,7 +20,7 @@ def create_composite_waypoint(name, quantities, values): def create_composite_atlas(cask_root, joints): - '''Creates composite atlas cask with waypoints for ur10. Tested with ovkit sim''' + '''Creates composite atlas cask with waypoints for ur10.''' if len(joints) != 6: raise ValueError("UR10 should have 6 joints, got {}".format(len(joints))) @@ -59,11 +59,14 @@ def create_composite_atlas(cask_root, joints): cask.write_message(create_composite_waypoint("suction_off", quantities, SUCTION_OFF_WAYPOINT)) cask.write_message(create_composite_waypoint("valve_off", quantities, VALVE_OFF_WAYPOINT)) - if __name__ == '__main__': # Parse arguments parser = argparse.ArgumentParser(description="Sortbot Demo") parser.add_argument("--cask", help="Path to output atlas", default="/tmp/shuffle_box_waypoints") + parser.add_argument("--generation", help="Robot generation.", choices=["cb3", "e-series"], default="e-series") + parser.add_argument("--robot_ip", help="robot ip", default="192.168.56.101") + parser.add_argument("--headless_mode", help="start driver with headless mode enabled or not", + default=False, type=lambda x: (str(x).lower() == 'true')) args = parser.parse_args() # get kinematic file and joints @@ -79,55 +82,82 @@ def create_composite_atlas(cask_root, joints): create_composite_atlas(args.cask, joints) # Create and start the app - app = Application(name="Shuffle Box Hardware") + app = Application(name="Shuffle Box Hardware", modules=["sight"]) # load bebavior subgraph. this contains the sequency behavior to move the arm between - # waypoints and control suction on/off - app.load("apps/samples/manipulation/shuffle_box_behavior.subgraph.json", prefix="behavior") + # waypoints and control gripper digital output + app.load("packages/universal_robots/apps/shuffle_box_behavior_hardware.subgraph.json", prefix="behavior") behavior_interface = app.nodes["behavior.interface"]["subgraph"] app.nodes["behavior.atlas"]["CompositeAtlas"].config.cask = args.cask - app.load("packages/planner/apps/multi_joint_lqr_control.subgraph.json", prefix="lqr") - - # load multi joint lqr control subgraph - lqr_interface = app.nodes["lqr.subgraph"]["interface"] - kinematic_tree = app.nodes["lqr.kinematic_tree"]["KinematicTree"] - lqr_planner = app.nodes["lqr.local_plan"]["MultiJointLqrPlanner"] - app.connect(behavior_interface, "joint_target", lqr_interface, "joint_target") - kinematic_tree.config.kinematic_file = kinematic_file - lqr_planner.config.speed_min = [-1.0] * len(joints) - lqr_planner.config.speed_max = [1.0] * len(joints) - lqr_planner.config.acceleration_min = [-1.0] * len(joints) - lqr_planner.config.acceleration_max = [1.0] * len(joints) - - # load hardware subgraph - app.load_module("universal_robots") - arm = app.add("hardware").add(app.registry.isaac.universal_robots.UniversalRobots) - arm.config.robot_ip = "10.32.221.190" - arm.config.control_mode = "joint position" - arm.config.tick_period = '125Hz' - arm.config.kinematic_tree = "lqr.kinematic_tree" - arm.config.tool_digital_out_names = ["valve", "pump"] - arm.config.tool_digital_in_names = ["unknown", "gripper"] - - app.connect(arm, "arm_state", lqr_interface, "joint_state") - app.connect(arm, "arm_state", behavior_interface, "joint_state") - app.connect(arm, "io_state", behavior_interface, "io_state") - app.connect(lqr_interface, "joint_command", arm, "arm_command") - app.connect(behavior_interface, "io_command", arm, "io_command") - - # visualize IO in sight - widget_io = app.add("sight_widgets").add(app.registry.isaac.sight.SightWidget, "IO") - widget_io.config.type = "plot" - widget_io.config.channels = [ + + # Load driver subgraph + generation = args.generation + if generation == "e-series": + app.load("packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json", prefix="ur") + elif generation == "cb3": + app.load("packages/universal_robots/ur_robot_driver/apps/ur_cb3_robot.subgraph.json", prefix="ur") + else: + raise Exception("Unknown robot generation") + + # Load components + ur_interface = app.nodes["ur.subgraph"]["interface"] + ur_controller = app.nodes["ur.controller"]["ScaledMultiJointController"] + ur_driver = app.nodes["ur.universal_robots"]["UniversalRobots"] + + # Configs + ur_controller.config.control_mode = "joint position" + ur_driver.config.control_mode = "joint position" + ur_driver.config.robot_ip = args.robot_ip + ur_driver.config.headless_mode = args.headless_mode + ur_driver.config.tool_digital_out_names = ["valve", "pump"] + ur_driver.config.tool_digital_in_names = ["unknown", "gripper"] + + # Edges + app.connect(ur_interface, "arm_state", behavior_interface, "joint_state") + app.connect(ur_interface, "io_state", behavior_interface, "io_state") + app.connect(behavior_interface, "io_command", ur_interface, "io_command") + app.connect(behavior_interface, "joint_target", ur_interface, "joint_target") + + # Sequence nodes + sequence_behavior = app.nodes["behavior.sequence_behavior"] + repeat_behavior = app.nodes["behavior.repeat_behavior"] + nodes_stopped = True + + # Enable sight + widget = app.add("sight").add(app.registry.isaac.sight.SightWidget, "IO") + widget.config.type = "plot" + widget.config.channels = [ { - "name": "hardware/UniversalRobots/gripper" + "name": "ur.universal_robots/UniversalRobots/gripper" }, { - "name": "hardware/UniversalRobots/pump" + "name": "ur.universal_robots/UniversalRobots/pump" }, { - "name": "hardware/UniversalRobots/valve" + "name": "ur.universal_robots/UniversalRobots/valve" } ] # run app - app.run() + app.start() + + try: + while True: + # Make sure urcap is running when starting the nodes + program_running = app.receive("ur.subgraph", "interface", "robot_program_running") + if program_running is None: + time.sleep(1) + else: + if program_running.proto.flag == True and nodes_stopped: + sequence_behavior.start() + repeat_behavior.start() + nodes_stopped = False + elif program_running.proto.flag == False and nodes_stopped == False: + sequence_behavior.stop() + repeat_behavior.stop() + nodes_stopped = True + + except KeyboardInterrupt: + if nodes_stopped == False: + sequence_behavior.stop() + repeat_behavior.stop() + app.stop() \ No newline at end of file diff --git a/apps/simple_joint_control.ipynb b/apps/simple_joint_control.ipynb index d5c742e..e00cdeb 100644 --- a/apps/simple_joint_control.ipynb +++ b/apps/simple_joint_control.ipynb @@ -2,9 +2,20 @@ "cells": [ { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + "text/plain": [ + "'/root/.cache/bazel/_bazel_root/4ba0b84eadbbe44ac95feee54d73b56c/execroot/com_nvidia_isaac_sdk/bazel-out/k8-opt/bin/packages/universal_robots/apps/simple_joint_control.runfiles/com_nvidia_isaac_sdk'" + ] + }, + "execution_count": 1, + "metadata": {}, + "output_type": "execute_result" + } + ], "source": [ "import os\n", "# set the current working directory to the deployed package folder. This is required by isaac.\n", @@ -15,35 +26,45 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "from IPython.display import display\n", "import json\n", "import numpy as np\n", + "import time\n", "\n", - "from engine.pyalice import Application, Codelet\n", - "from engine.pyalice.gui.composite_widget import CompositeWidget\n", + "from packages.pyalice import Application, Codelet, Message\n", + "from packages.pyalice.gui.composite_widget import CompositeWidget\n", "\n", "np.set_printoptions(precision=3)" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 4, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']\n" + ] + } + ], "source": [ "# A Python codelet for joint control through widget\n", "class JointPositionControl(Codelet):\n", " def start(self):\n", " self.rx = self.isaac_proto_rx(\"CompositeProto\", \"state\")\n", " self.tx = self.isaac_proto_tx(\"CompositeProto\", \"command\")\n", - "\n", + " \n", " joints = self.config.joints\n", " limits = self.config.limits\n", " measure = self.config.measure\n", + " self.stop_control = 3\n", " self._widget = CompositeWidget(joints, measure, limits)\n", " if self._widget is None:\n", " report_failure(\"Cannot create valid widget\")\n", @@ -72,8 +93,10 @@ " joints.append(link['name'])\n", "print(joints)\n", "\n", - "# Obtain the UR10 IP from UR Console and update this\n", - "UR10_IP = \"10.32.221.190\"" + "# Obtain the IP from UR Console and update this\n", + "IP = \"192.168.56.1\"\n", + "# Robot generation that you are going to control \"e-series\" or \"cb3\"\n", + "GENERATION = \"e-series\"" ] }, { @@ -86,23 +109,56 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], + "execution_count": 5, + "metadata": { + "scrolled": true + }, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "2021-05-04 12:31:28,784 DEBUG Binding PyCodelet command_generator/PyCodelet\n", + "2021-05-04 12:31:28,787 DEBUG Launching isaac core\n", + "2021-05-04 12:31:28,789 DEBUG Launching pycodelet threads\n", + "2021-05-04 12:31:28,795 DEBUG Launching command_generator/PyCodelet\n" + ] + }, + { + "data": { + "application/vnd.jupyter.widget-view+json": { + "model_id": "db38dbc6409243748d4c1067061abc55", + "version_major": 2, + "version_minor": 0 + }, + "text/plain": [ + "VBox(children=(HBox(children=(Label(value='shoulder_pan_joint', layout=Layout(width='150px')), FloatSlider(val…" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], "source": [ - "app = Application(name=\"simple_joint_control_ur10_hardware\")\n", + "app = Application(name=\"simple_joint_control_ur_hardware\", modules=[\"sight\"])\n", + "\n", + "if GENERATION == \"e-series\": \n", + " app.load(filename=\"packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json\", prefix=\"ur\")\n", + "elif GENERATION == \"cb3\":\n", + " app.load(filename=\"packages/universal_robots/ur_robot_driver/apps/ur_cb3_robot.subgraph.json\", prefix=\"ur\")\n", + "else:\n", + " Exception(\"Unknown robot generation\")\n", "\n", - "# load lqr subgraphcs\n", - "app.load(filename=\"packages/planner/apps/multi_joint_lqr_control.subgraph.json\", prefix=\"lqr\")\n", - "lqr_interface = app.nodes[\"lqr.subgraph\"][\"interface\"]\n", + "# Load components for configuration\n", + "ur_interface = app.nodes[\"ur.subgraph\"][\"interface\"]\n", + "ur_controller = app.nodes[\"ur.controller\"][\"ScaledMultiJointController\"]\n", + "ur_driver = app.nodes[\"ur.universal_robots\"][\"UniversalRobots\"]\n", "\n", "# configs\n", - "app.nodes[\"lqr.kinematic_tree\"][\"KinematicTree\"].config.kinematic_file = kinematic_file\n", - "lqr_planner = app.nodes[\"lqr.local_plan\"][\"MultiJointLqrPlanner\"]\n", - "lqr_planner.config.speed_min = [-0.5] * len(joints)\n", - "lqr_planner.config.speed_max = [0.5] * len(joints)\n", - "lqr_planner.config.acceleration_min = [-0.5] * len(joints)\n", - "lqr_planner.config.acceleration_max = [0.5] * len(joints)\n", + "ur_controller.config.control_mode = \"joint speed\"\n", + "ur_driver.config.control_mode = \"joint speed\"\n", + "ur_driver.config.robot_ip = IP\n", + "ur_driver.config.headless_mode = False\n", "\n", "# add pycodelet for joint position control\n", "widget_node = app.add(\"command_generator\")\n", @@ -110,29 +166,54 @@ "joint_commander.config.joints = joints\n", "joint_commander.config.limits = [[-2*np.pi, 2*np.pi]] * len(joints)\n", "joint_commander.config.measure = 'position'\n", - "app.connect(joint_commander, \"command\", lqr_interface, \"joint_target\")\n", "\n", - "# add ur10 driver codelet\n", - "app.load_module(\"universal_robots\")\n", - "driver = app.add(\"ur\").add(app.registry.isaac.universal_robots.UniversalRobots)\n", - "# configs\n", - "driver.config.kinematic_tree = \"lqr.kinematic_tree\"\n", - "driver.config.control_mode = \"joint position\"\n", - "driver.config.robot_ip = UR10_IP\n", - "driver.config.tick_period = \"125Hz\"\n", "# edges\n", - "app.connect(driver, \"arm_state\", lqr_interface, \"joint_state\")\n", - "app.connect(driver, \"arm_state\", joint_commander, \"state\")\n", - "app.connect(lqr_interface, \"joint_command\", driver, \"arm_command\")\n", + "app.connect(joint_commander, \"command\", ur_interface, \"joint_target\")\n", + "app.connect(ur_interface, \"arm_state\", joint_commander, \"state\")\n", "\n", - "app.start()" + "# Enable sight\n", + "widget = app.add(\"sight\").add(app.registry.isaac.sight.SightWidget, \"simple_joint_control\")\n", + "widget.config.type = \"plot\"\n", + "widget.config.channels = [\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/shoulder_pan_joint\"\n", + " },\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/shoulder_lift_joint\"\n", + " },\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/elbow_joint\"\n", + " },\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/wrist_1_joint\"\n", + " },\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/wrist_2_joint\"\n", + " },\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/wrist_3_joint\"\n", + " }\n", + "\n", + "]\n", + "\n", + "# start application\n", + "app.start()\n" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 7, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "2021-04-29 12:23:34,917 DEBUG Stopped command_generator/PyCodelet\n", + "2021-04-29 12:23:34,918 DEBUG Python Codelets All stopped...\n" + ] + } + ], "source": [ "app.stop()" ] @@ -142,66 +223,105 @@ "metadata": {}, "source": [ "UR10 Digital IO Control\n", - "=======" + "=====" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 6, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "2021-05-04 12:53:50,384 DEBUG Binding PyCodelet command_generator/PyCodelet\n", + "2021-05-04 12:53:50,387 DEBUG Launching isaac core\n", + "2021-05-04 12:53:50,388 DEBUG Launching pycodelet threads\n", + "2021-05-04 12:53:50,389 DEBUG Launching command_generator/PyCodelet\n" + ] + }, + { + "data": { + "application/vnd.jupyter.widget-view+json": { + "model_id": "476f9c1bcc2043f6ad42e176546771c8", + "version_major": 2, + "version_minor": 0 + }, + "text/plain": [ + "VBox(children=(HBox(children=(Label(value='tool_digital_out_0', layout=Layout(width='150px')), FloatSlider(val…" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], "source": [ - "app = Application(name=\"io_control_ur10_hardware\")\n", + "app = Application(name=\"io_control_ur_hardware\", modules=[\"sight\"])\n", "\n", - "# load lqr subgraphcs\n", - "app.load(filename=\"packages/planner/apps/multi_joint_lqr_control.subgraph.json\", prefix=\"lqr\")\n", - "lqr_interface = app.nodes[\"lqr.subgraph\"][\"interface\"]\n", + "if GENERATION == \"e-series\": \n", + " app.load(filename=\"packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json\", prefix=\"ur\")\n", + "elif GENERATION == \"cb3\":\n", + " app.load(filename=\"packages/universal_robots/ur_robot_driver/apps/ur_cb3_robot.subgraph.json\", prefix=\"ur\")\n", + "else:\n", + " Exception(\"Unknown robot generation\")\n", "\n", - "# configs\n", - "app.nodes[\"lqr.kinematic_tree\"][\"KinematicTree\"].config.kinematic_file = kinematic_file\n", - "lqr_planner = app.nodes[\"lqr.local_plan\"][\"MultiJointLqrPlanner\"]\n", - "lqr_planner.config.speed_min = [-0.5] * len(joints)\n", - "lqr_planner.config.speed_max = [0.5] * len(joints)\n", - "lqr_planner.config.acceleration_min = [-0.5] * len(joints)\n", - "lqr_planner.config.acceleration_max = [0.5] * len(joints)\n", - "\n", - "# add ur10 driver codelet\n", - "app.load_module(\"universal_robots\")\n", - "driver = app.add(\"ur\").add(app.registry.isaac.universal_robots.UniversalRobots)\n", - "# configs\n", - "driver.config.kinematic_tree = \"lqr.kinematic_tree\"\n", - "driver.config.robot_ip = UR10_IP\n", - "driver.config.tick_period = \"100Hz\"\n", + "# Load components for configuration\n", + "ur_interface = app.nodes[\"ur.subgraph\"][\"interface\"]\n", + "ur_driver = app.nodes[\"ur.universal_robots\"][\"UniversalRobots\"]\n", "\n", - "# add pycodelet for digitalIO control\n", - "io_names = driver.config.tool_digital_out_names\n", + "io_names = ur_driver.config.tool_digital_out_names\n", + "ur_driver.config.robot_ip = IP\n", "\n", + "# add pycodelet for digitalIO control\n", "widget_node = app.add(\"command_generator\")\n", "io_commander = widget_node.add(JointPositionControl)\n", "io_commander.config.joints = io_names\n", "io_commander.config.limits = [[0, 1]] * len(io_names)\n", "io_commander.config.measure = 'none'\n", - "app.connect(io_commander, \"command\", driver, \"io_command\")\n", - "app.connect(driver, \"io_state\", io_commander, \"state\")\n", + "\n", + "# Edges\n", + "app.connect(io_commander, \"command\", ur_interface, \"io_command\")\n", + "app.connect(ur_interface, \"io_state\", io_commander, \"state\")\n", + "\n", + "# Enable sight\n", + "widget = app.add(\"sight\").add(app.registry.isaac.sight.SightWidget, \"shuffle_box_hardware\")\n", + "widget.config.type = \"plot\"\n", + "widget.config.channels = [\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/tool_digital_out_0\"\n", + " },\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/tool_digital_out_1\"\n", + " },\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/tool_digital_in_0\"\n", + " },\n", + " {\n", + " \"name\": \"ur.universal_robots/UniversalRobots/tool_digital_in_1\"\n", + " }\n", + "]\n", "\n", "app.start()" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 7, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "2021-05-04 12:55:22,145 DEBUG Stopped command_generator/PyCodelet\n", + "2021-05-04 12:55:22,146 DEBUG Python Codelets All stopped...\n" + ] + } + ], "source": [ "app.stop()" ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [] } ], "metadata": { @@ -213,14 +333,14 @@ "language_info": { "codemirror_mode": { "name": "ipython", - "version": 2 + "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", - "pygments_lexer": "ipython2", - "version": "2.7.17" + "pygments_lexer": "ipython3", + "version": "3.6.9" } }, "nbformat": 4, diff --git a/controller_stopper/BUILD b/controller_stopper/BUILD new file mode 100644 index 0000000..729f008 --- /dev/null +++ b/controller_stopper/BUILD @@ -0,0 +1,16 @@ +load("@com_nvidia_isaac_engine//bzl:isaac_engine.bzl", "isaac_cc_library") + +isaac_cc_library( + name = "controller_stopper", + srcs = [ + "ControllerStopper.cpp" + ], + hdrs = [ + "ControllerStopper.hpp" + ], + visibility = ["//visibility:public"], + deps = [ + "@com_nvidia_isaac_engine//engine/alice", + "//messages:basic_proto" + ], +) \ No newline at end of file diff --git a/controller_stopper/ControllerStopper.cpp b/controller_stopper/ControllerStopper.cpp new file mode 100644 index 0000000..6ca16be --- /dev/null +++ b/controller_stopper/ControllerStopper.cpp @@ -0,0 +1,77 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include "ControllerStopper.hpp" +#include "engine/alice/backend/backend.hpp" +#include "engine/alice/backend/node_backend.hpp" +#include "engine/alice/node.hpp" + +namespace isaac +{ +namespace controller_stopper +{ +void ControllerStopper::start() +{ + // Try get the controller node + const auto controller_node = try_get_controller(); + if (!controller_node) + { + reportFailure("controller node is not specified."); + return; + } + controller_node_ = node()->app()->getNodeByName(*controller_node); + + // Stop the node as the first thing + node()->app()->backend()->node_backend()->stopNode(controller_node_); + controller_node_stopped_ = true; + + // Setup tick + tickOnMessage(rx_robot_program_running()); +} + +void ControllerStopper::tick() +{ + auto proto = rx_robot_program_running().getProto(); + if (proto.getFlag() && controller_node_stopped_) + { + LOG_DEBUG("starting controller"); + node()->app()->backend()->node_backend()->startNode(controller_node_); + controller_node_stopped_ = false; + } + else if (proto.getFlag() == false && controller_node_stopped_ == false) + { + LOG_DEBUG("stopping controller"); + node()->app()->backend()->node_backend()->stopNode(controller_node_); + controller_node_stopped_ = true; + } +} + +} // namespace controller_stopper +} // namespace isaac \ No newline at end of file diff --git a/controller_stopper/ControllerStopper.hpp b/controller_stopper/ControllerStopper.hpp new file mode 100644 index 0000000..0894306 --- /dev/null +++ b/controller_stopper/ControllerStopper.hpp @@ -0,0 +1,83 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#pragma once + +#include + +#include "engine/alice/alice_codelet.hpp" +#include "messages/basic.capnp.h" + +namespace isaac +{ +namespace controller_stopper +{ +/*! + * \brief ControllerStopper class is a small helper component that stops and restarts the controller based on a boolean + * message. When the message goes to false, the controller is stopped. If message returns to true the stopped controller + * is restarted. + */ +class ControllerStopper : public isaac::alice::Codelet +{ +public: + /*! + * \brief Handles the setup functionality of this class. This includes collecting the controller node. + */ + void start() override; + /*! + * \brief This functions is run every time the robot_program_running message is published. + * When the message goes to false, the controller is stopped. If message returns to true the stopped controller is + * restarted. + */ + void tick() override; + + /*! + * \brief Receives the robots running state. + */ + ISAAC_PROTO_RX(BooleanProto, robot_program_running); + + /*! + * \brief Name of the node containing the controller node that is sending targets to the driver. + * This node is started and stopped based upon the drivers control status of the robot. + */ + ISAAC_PARAM(std::string, controller); + +private: + // Node containing the controller. + alice::Node* controller_node_; + + // Boolean to represent if the controller is currently stopped + bool controller_node_stopped_; +}; + +} // namespace controller_stopper +} // namespace isaac + +ISAAC_ALICE_REGISTER_CODELET(isaac::controller_stopper::ControllerStopper) \ No newline at end of file diff --git a/controller_stopper/README.md b/controller_stopper/README.md new file mode 100644 index 0000000..9a3dd5b --- /dev/null +++ b/controller_stopper/README.md @@ -0,0 +1,10 @@ +# Controller stopper + +A small helper component that stops and restarts Isaac controller based on a boolean +status message. When the status goes to false, all running controllers except a +set of predefined consistent_controller get stopped. If status returns to true +the stopped controller are restarted. + +The ControllerStopper component is automatically started within the UniversalRobots +codelet. So no configuration is needed to use this node. The component is explained +further in [component api](../ur_robot_driver/doc/component_api.md#ControllerStopper) diff --git a/ur_controller/BUILD b/ur_controller/BUILD new file mode 100644 index 0000000..306b404 --- /dev/null +++ b/ur_controller/BUILD @@ -0,0 +1,42 @@ +load("@com_nvidia_isaac_engine//bzl:isaac_engine.bzl", "isaac_cc_library") +load("//bzl:module.bzl", "isaac_cc_module",) + +isaac_cc_module( + name = "ur_controller", + srcs = [ + "ScaledMultiJointController.cpp", + "JointSegment.cpp", + "JointTrajectory.cpp" + ], + hdrs = [ + "ScaledMultiJointController.hpp", + "JointSegment.hpp", + "Pid.hpp", + "JointTrajectory.hpp" + ], + deps=[ + "//packages/map:kinematic_tree", + "//packages/composite/gems:serializer", + "//packages/composite/gems:parser" + ] +) + +isaac_cc_library( + name = "ur_controller_test", + srcs = [ + "ScaledMultiJointController.cpp", + "JointSegment.cpp", + "JointTrajectory.cpp" + ], + hdrs = [ + "ScaledMultiJointController.hpp", + "JointSegment.hpp", + "Pid.hpp", + "JointTrajectory.hpp" + ], + deps=[ + "//packages/map:kinematic_tree", + "//packages/composite/gems:parser" + ], + visibility = ["//visibility:public"], +) \ No newline at end of file diff --git a/ur_controller/JointSegment.cpp b/ur_controller/JointSegment.cpp new file mode 100644 index 0000000..8ea7772 --- /dev/null +++ b/ur_controller/JointSegment.cpp @@ -0,0 +1,178 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include "JointSegment.hpp" +#include "engine/core/math/types.hpp" + +namespace isaac +{ +namespace ur_controller +{ +namespace +{ +constexpr int linearInterpolation = 1; +constexpr int cubicInterpolation = 2; +constexpr int quinticInterpolation = 3; +} // namespace + +JointSegment::JointSegment() : duration_(0.0), start_time_(0.0) +{ + coefficients_ << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; +} + +JointSegment::JointSegment(const Timeseries::Entry& start_waypoint, + const Timeseries::Entry& end_waypoint) +{ + coefficients_ << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; + initSegment(start_waypoint, end_waypoint); +} + +void JointSegment::initSegment(const Timeseries::Entry& start_waypoint, + const Timeseries::Entry& end_waypoint) +{ + ASSERT(start_waypoint.stamp <= end_waypoint.stamp, "start_waypoint stamp shouldn't be larger than end_waypoint " + "stamp"); + ASSERT(start_waypoint.state.rows() >= linearInterpolation && end_waypoint.state.rows() >= linearInterpolation, "empty" + " stat" + "e"); + ASSERT(start_waypoint.state.rows() == end_waypoint.state.rows(), "start_waypoint and end_waypoint states size " + "mismatch"); + + // Set all coefficients to zero + coefficients_ << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; + + duration_ = end_waypoint.stamp - start_waypoint.stamp; + start_time_ = start_waypoint.stamp; + + if (start_waypoint.state.rows() == linearInterpolation) + { + linearCoefficients(start_waypoint.state, end_waypoint.state, duration_); + } + else if (start_waypoint.state.rows() == cubicInterpolation) + { + cubicCoefficients(start_waypoint.state, end_waypoint.state, duration_); + } + else if (start_waypoint.state.rows() == quinticInterpolation) + { + quinticCoefficients(start_waypoint.state, end_waypoint.state, duration_); + } + else + { + PANIC("To many elements in the state vector"); + } +} + +Vector6d JointSegment::getCoefficients() +{ + return coefficients_; +} + +const double JointSegment::getEndTime() +{ + return start_time_ + duration_; +} + +const double JointSegment::getStartTime() +{ + return start_time_; +} + +void JointSegment::interpolate(const double& stamp, double& pos, double& vel, double& acc) +{ + // We can only interpolate within the waypoints. + ASSERT(start_time_ <= stamp && stamp <= start_time_ + duration_, "Time stamp is not within the boundaries."); + + const double x = stamp - start_time_; + + pos = ((((coefficients_[5] * x + coefficients_[4]) * x + coefficients_[3]) * x + coefficients_[2]) * x + + coefficients_[1]) * x + coefficients_[0]; + vel = (((5.0 * coefficients_[5] * x + 4.0 * coefficients_[4]) * x + 3.0 * coefficients_[3]) * x + + 2.0 * coefficients_[2]) * x + coefficients_[1]; + acc = ((20.0 * coefficients_[5] * x + 12.0 * coefficients_[4]) * x + 6.0 * coefficients_[3]) * x + + 2.0 * coefficients_[2]; +} + +void JointSegment::linearCoefficients(const VectorXd& start, const VectorXd& end, const double& x) +{ + if (x == 0.0) + { + coefficients_[0] = start[0]; + } + else + { + coefficients_[0] = start[0]; + coefficients_[1] = (end[0] - start[0]) / x; + } +} + +void JointSegment::cubicCoefficients(const VectorXd& start, const VectorXd& end, const double& x) +{ + if (x == 0.0) + { + coefficients_[0] = start[0]; + coefficients_[1] = start[1]; + } + else + { + Vector4d powers; + powers << 1.0, x, x * x, x * x * x; + coefficients_[0] = start[0]; + coefficients_[1] = start[1]; + coefficients_[2] = (3.0 * (-start[0] + end[0]) + (-2.0 * start[1] - end[1]) * powers[1]) / powers[2]; + coefficients_[3] = (2.0 * (start[0] - end[0]) + (start[1] + end[1]) * powers[1]) / powers[3]; + } +} + +void JointSegment::quinticCoefficients(const VectorXd& start, const VectorXd& end, const double& x) +{ + if (x == 0.0) + { + coefficients_[0] = start[0]; + coefficients_[1] = start[1]; + coefficients_[2] = 0.5 * start[2]; + } + else + { + Vector6d powers; + powers << 1.0, x, x * x, x * x * x, x * x * x * x, x * x * x * x * x; + coefficients_[0] = start[0]; + coefficients_[1] = start[1]; + coefficients_[2] = 0.5 * start[2]; + coefficients_[3] = (20.0 * (-start[0] + end[0]) + (-12.0 * start[1] - 8.0 * end[1]) * powers[1] + + (-3.0 * start[2] + end[2]) * powers[2]) / (2.0 * powers[3]); + coefficients_[4] = (30.0 * (start[0] - end[0]) + (16.0 * start[1] + 14.0 * end[1]) * powers[1] + + (3.0 * start[2] - 2.0 * end[2]) * powers[2]) / (2.0 * powers[4]); + coefficients_[5] = (12.0 * (-start[0] + end[0]) + 6.0 * (-start[1] - end[1]) * powers[1] + + (-start[2] + end[2]) * powers[2]) / (2.0 * powers[5]); + } +} + +} // namespace ur_controller +} // namespace isaac \ No newline at end of file diff --git a/ur_controller/JointSegment.hpp b/ur_controller/JointSegment.hpp new file mode 100644 index 0000000..f515b8a --- /dev/null +++ b/ur_controller/JointSegment.hpp @@ -0,0 +1,156 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#pragma once + +#include + +#include "engine/core/math/types.hpp" +#include "engine/gems/algorithm/timeseries.hpp" + +namespace isaac +{ +namespace ur_controller +{ +/*! + * \brief Calculates a segment between two waypoints. The segment is a function describing + * joint position as a function of time. The function can be linear, cubic or quintic. + */ + +class JointSegment +{ +public: + /*! + * \brief Construct a new Joint Segment object + */ + JointSegment(); + + /*! + * \brief Construct a new Joint Segment object with a start_waypoint and end_waypoint. + * This constructor calls initSegment. + * + * Timeseries::Entry is a struct describing a waypoint. + * Struct Entry { + * double Stamp + * VectorXd state + * }; + * An Entry consist of a timestamp and a state which is the current state at that timestamp. + * State is vector with 1, 2 or 3 entries depending on wheter the vector consist of pos, vel and acc. + * This function calls InitSegment. + * + * \param start_waypoint the first waypoint + * \param end_waypoint the second waypoint + */ + JointSegment(const Timeseries::Entry& start_waypoint, + const Timeseries::Entry& end_waypoint); + + /*! + * \brief Calculates the function between the two waypoints. + * + * If State has length 1 linear function will be calculated. + * y = coffiecients_[1]*x + coffiecients_[0] + * coffiecients_[2] = coffiecients_[3] = coffiecients_[4] = coffiecients_[5] = 0. + * + * If State has length 2 cubic function will be calculated. + * y = coffiecients_[3]*x^3 + coffiecients_[2]*x^2 + coffiecients_[1]*x + coffiecients_[0] + * coffiecients_[4] = coffiecients_[5] = 0. + * + * If State has length 3 quintic function will be calculated. + * y = coffiecients_[5]*x^5 + coffiecients_[4]*x^4 + coffiecients_[3]*x^3 + coffiecients_[2]*x^2 + coffiecients_[1]*x + * + coffiecients_[0] + * + * \param start_waypoint the first waypoint + * \param end_waypoint the second waypoint + */ + void initSegment(const Timeseries::Entry& start_waypoint, + const Timeseries::Entry& end_waypoint); + + /*! + * \returns Segment coefficients + */ + Vector6d getCoefficients(); + + /*! + * \returns End time of the segment + */ + const double getEndTime(); + + /*! + * \returns Start time of the segment + */ + const double getStartTime(); + + /*! + * \brief interpolate at a given time stamp. + * + * \param stamp Time stamp to do the interpolation, make sure it is within the boundaries. + * \param pos Variable to store calculated position + * \param vel Variable to store calculated velocity + * \param acc Variable to store calculated acceleration + */ + void interpolate(const double& stamp, double& pos, double& vel, double& acc); + +private: + /*! + * \brief Calculates linear coefficients for the segment. + * + * \param start Start state + * \param end End state + * \param x duration of the segment + */ + void linearCoefficients(const VectorXd& start, const VectorXd& end, const double& x); + + /*! + * \brief Calculates cubic coefficients for the segment. + * + * \param start Start state + * \param end End state + * \param x duration of the segment + */ + void cubicCoefficients(const VectorXd& start, const VectorXd& end, const double& x); + + /*! + * \brief Calculates quintic coefficients for the segment. + * + * \param start Start state + * \param end End state + * \param x duration of the segment + */ + void quinticCoefficients(const VectorXd& start, const VectorXd& end, const double& x); + + // Coefficients + Vector6d coefficients_; + + // Segment start time, end time and duration for a segment + double duration_, start_time_; +}; + +} // namespace ur_controller +} // namespace isaac diff --git a/ur_controller/JointTrajectory.cpp b/ur_controller/JointTrajectory.cpp new file mode 100644 index 0000000..9e56025 --- /dev/null +++ b/ur_controller/JointTrajectory.cpp @@ -0,0 +1,91 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include "JointTrajectory.hpp" + +namespace isaac +{ +namespace ur_controller +{ +JointTrajectory::JointTrajectory() = default; + +void JointTrajectory::initTrajectory(const Timeseries& trajectory) +{ + ASSERT(trajectory.empty() == false, "The trajectory shouldn't be empty"); + joint_trajectory_ = trajectory; + + Timeseries::Entry waypoint; + Timeseries::Entry next_waypoint; + // Create a vector of segments + segments_.clear(); + for (unsigned int j = 0; j < trajectory.size() - 1; ++j) + { + waypoint = trajectory.at(j); + next_waypoint = trajectory.at(j + 1); + JointSegment segment(waypoint, next_waypoint); + segments_.push_back(segment); + } + // Last segment is the final position of the trajectory, but with a duration of 0. + waypoint = joint_trajectory_.youngest(); + next_waypoint = joint_trajectory_.youngest(); + JointSegment segment(waypoint, next_waypoint); + segments_.push_back(segment); +} + +void JointTrajectory::interpolate(const double& stamp, double& pos, double& vel, double& acc) +{ + // If we are before trajectory start time or after trajectory end time return position + if (stamp < joint_trajectory_.oldest().stamp) + { + pos = joint_trajectory_.oldest().state[0]; + vel = 0.0; + acc = 0.0; + return; + } + else if (stamp > joint_trajectory_.youngest().stamp) + { + pos = joint_trajectory_.youngest().state[0]; + vel = 0.0; + acc = 0.0; + return; + } + + // Find current segmet and interpolate + ssize_t index = joint_trajectory_.lower_index(stamp); + segments_[index].interpolate(stamp, pos, vel, acc); +} + +const double JointTrajectory::endTime() +{ + return joint_trajectory_.youngest().stamp; +} + +} // namespace ur_controller +} // namespace isaac \ No newline at end of file diff --git a/ur_controller/JointTrajectory.hpp b/ur_controller/JointTrajectory.hpp new file mode 100644 index 0000000..ec7a559 --- /dev/null +++ b/ur_controller/JointTrajectory.hpp @@ -0,0 +1,86 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#pragma once + +#include "engine/gems/algorithm/timeseries.hpp" +#include "JointSegment.hpp" + +namespace isaac +{ +namespace ur_controller +{ +/*! + * \brief This JointTrajectory Class is used store a trajectory for one joint. + * The trajectory consist of waypoints that consist of time, position, velocity and acceleration. + * It uses JointSegment to calculate the segments between all the waypoints and interpolate between + * two waypoints. + */ + +class JointTrajectory +{ +public: + /*! + * \brief Construct a new Joint Trajectory object + */ + JointTrajectory(); + + /*! + * \brief Storing the new trajectory and creating segment for each waypoint in the trajectory. + * + * \param trajectory trajectory for the joint to follow. + */ + void initTrajectory(const Timeseries& trajectory); + + /*! + * \brief Calculates current position, velocity and acceleration, based on the time_stamp. + * + * \param stamp Current time to interpolate. + * \param pos Variable to store position. + * \param vel Variable to store velocity. + * \param acc Variable to store acceleration. + */ + void interpolate(const double& stamp, double& pos, double& vel, double& acc); + + /*! + * \returns end time of trajectory. + */ + const double endTime(); + +private: + // Trajectory of waypoints for a joint + Timeseries joint_trajectory_; + + // List of segments between the waypoints + std::vector segments_; +}; + +} // namespace ur_controller +} // namespace isaac \ No newline at end of file diff --git a/ur_controller/Pid.hpp b/ur_controller/Pid.hpp new file mode 100644 index 0000000..e52fce8 --- /dev/null +++ b/ur_controller/Pid.hpp @@ -0,0 +1,229 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#pragma once + +#include +#include "engine/core/math/utils.hpp" +#include "engine/gems/serialization/json_formatter.hpp" + +namespace isaac +{ +namespace ur_controller +{ +/*! + * \brief Pid class used to calculate the control output. This class is used in the + * ScaledMultiJointController to calculate joint speeds. + */ + +template +class Pid +{ +public: + /*! + * \brief Construct a new Pid object + */ + Pid() : last_error_(static_cast(0.0)), i_error_(static_cast(0.0)) + { + setGains(static_cast(0.0), static_cast(0.0), static_cast(0.0), + std::numeric_limits::max(), std::numeric_limits::min()); + } + + /*! + * \brief Initialize the PID controller with gains. + * + * \param p P gain + * \param i I gain + * \param d D gain + * \param i_max Maximum integral error + * \param i_min Minimum integral error + */ + void initPid(const Scalar& p, const Scalar& i, const Scalar& d, const Scalar& i_max, const Scalar& i_min) + { + setGains(p, i, d, i_max, i_min); + reset(); + } + + /*! + * \brief Initialize the PID controller with gains. + * + * \param json Json object storing the gains. + * + * \returns true on succes + */ + bool init(const nlohmann::json& json) + { + const auto p = serialization::TryGetFromMap(json, "p"); + if (p == std::nullopt) + { + return false; + } + Scalar i = serialization::GetFromMapOrDefault(json, "i", 0.0); + Scalar d = serialization::GetFromMapOrDefault(json, "d", 0.0); + Scalar i_clamp = serialization::GetFromMapOrDefault(json, "i_clamp", std::numeric_limits::max()); + Scalar i_max = std::abs(i_clamp); + Scalar i_min = -std::abs(i_clamp); + + setGains(*p, i, d, i_max, i_min); + reset(); + + return true; + } + + /*! + * \brief Get the gains + * + * \param p P gain + * \param i I gain + * \param d D gain + * \param i_max Integral max error + * \param i_min Integral minimum error + */ + void getGains(Scalar& p, Scalar& i, Scalar& d, Scalar& i_max, Scalar& i_min) + { + p = p_gain_; + i = i_gain_; + d = d_gain_; + i_max = i_max_; + i_min = i_min_; + } + + /*! + * \brief Set the gains + * + * \param p P gain + * \param i I gain + * \param d D gain + * \param i_max Integral max error + * \param i_min Integral minimum error + */ + void setGains(const Scalar& p, const Scalar& i, const Scalar& d, const Scalar& i_max, const Scalar& i_min) + { + p_gain_ = p; + i_gain_ = i; + d_gain_ = d; + i_max_ = i_max; + i_min_ = i_min; + } + + /*! + * \brief Get the errors + * + * \param last_error Lastest error + * \param i_error Integral error + */ + void getErrors(Scalar& last_error, Scalar& i_error) + { + i_error = i_error_; + last_error = last_error_; + } + + /*! + * \brief Reset errors + */ + void reset() + { + last_error_ = 0.0; + i_error_ = 0.0; + } + + /*! + * \brief Calculates control output. + * This functions calculates the derivative error, before calculating control output. + * + * \param error Error between target and actual value. + * \param dt Time since last control output was calculated. + * + * \returns control output + */ + Scalar calculate(Scalar error, Scalar dt) + { + if (dt <= 0.0) + { + return 0.0; + } + + Scalar error_dot = (error - last_error_) / dt; + last_error_ = error; + return calculate(error, error_dot, dt); + } + + /*! + * \brief Calculates control output. + * + * \param error Error between target and actual value. + * \param error_dot Derivative error. + * \param dt Time since last control output was calculated. + * + * \returns control output + */ + Scalar calculate(Scalar error, Scalar error_dot, Scalar dt) + { + if (dt <= 0.0) + { + return 0.0; + } + + Scalar p_term, i_term, d_term, cmd; + + // Calculate p term + p_term = p_gain_ * error; + + // Calculate I term + i_error_ += error * dt; + i_term = i_error_ * i_gain_; + + // Clamp I term + i_term = Clamp(i_term, i_min_, i_max_); + + // Calculate derivative term + d_term = d_gain_ * error_dot; + + cmd = p_term + i_term + d_term; + + last_error_ = error; + + return cmd; + } + +private: + Scalar last_error_; + Scalar i_error_; + + // Gains + Scalar p_gain_; + Scalar i_gain_; + Scalar d_gain_; + Scalar i_max_; + Scalar i_min_; +}; + +} // namespace ur_controller +} // namespace isaac \ No newline at end of file diff --git a/ur_controller/README.md b/ur_controller/README.md new file mode 100644 index 0000000..158b723 --- /dev/null +++ b/ur_controller/README.md @@ -0,0 +1,111 @@ +# UR controller + +This package contains a controller, that is special to the UR family. This controller +can handle the the actual speedscaling of the robot, by slowing down trajectory execution. + +## Isaac Api + +This folder contains a controller, not being available in Isaac SDK. The controller +is created to offer a controller that can handle the actual speed scaling of a +UR robot. This controller is meant to be used instead of the [MultiJointcontroller](https://docs.nvidia.com/isaac/isaac/doc/doc/component_api.html#isaac-controller-multijointcontroller) +provided by nvidia. + +This folder contains 1 codelet that can be used in applications: + +- **ScaledMultiJointController** This codelets interpolates a trajectory received +from the planner to determine the current command to send. This codelet can output +either a joint position or speed command. It uses the actual speed scaling reported +by UniversalRobots to reduce progress in the trajectory. The component is further +documented in a [standalone document](../ur_robot_driver/doc/component_api.md#ScaledMultiJointController) + +The codelet uses functionality from other classes in this folder, these classes +can be seen below: + +- **Pid** class used to calculate the control output. This class is used in the +ScaledMultiJointController to calculate joint speeds. + +- **JointTrajectory** class is used to store a trajectory of waypoints for one joint. +The waypoints consist of time, position, velocity and acceleration. This Class uses +JointSegment to interpolate between two waypoints. + +- **JointSegment** class calculates a segment between two waypoints. The segment +is a function describing joint position as a function of time. The function can +be linear, cubic or quintic. + +### Subgraph + +This controller comes with a [subgraph](apps/scaled_multi_joint_ur_control.subgraph.json) +that integrates the [MultiJointLqrPlanner](https://docs.nvidia.com/isaac/isaac/doc/doc/component_api.html#isaac-planner-multijointplanner), +[ScaledMultiJointController](../ur_robot_driver/doc/component_api.md#ScaledMultiJointController) +and [KinematicTree](https://docs.nvidia.com/isaac/isaac/doc/doc/component_api.html#isaac-map-kinematictree) +components. The subgraph provides the following interface edges: + +- **joint_state(input)** "subgraph/interface/joint_state" + +- **joint_target(input)** "subgraph/interface/joint_target" + +- **joint_command(output)** "subgraph/interface/command" + +- **trajectory_executed_succesfully(output)** "subgraph/interface/trajectory_executed_succesfully" + +## Controller description + +This controller works similar to [MultiJointcontroller](https://docs.nvidia.com/isaac/isaac/doc/doc/component_api.html#isaac-controller-multijointcontroller) +provided by nvidia. It receives a plan that contains a trajectory for each joint. +It interpolates the received plan and publish the command as either joint speeds +or joint position. + +However, it is extended to handle the robot's execution speed specifically. +Because MultiJointController would interpolate the trajectory with the configured +time constraints (ie: always assume maximum velocity and acceleration configured +in the application), this could lead to significant path deviation due to multiple +reasons: + +- The speed slider on the robot might not be at 100%, so motion commands sent from +ROS would effectively get scaled down resulting in a slower execution. + +- The robot could scale down motions based on configured safety limits resulting +in a slower motion than expected and therefore not reaching the desired target in +a control cycle. + +- Motions might not be executed at all, e.g. because the robot is E-stopped or in +a protective stop + +- Motion commands sent to the robot might not be interpreted, e.g. because there +is no `external_control` program node running on the robot controller. + +- The program interpreting motion commands could be paused. + +The following plot illustrates the problem: + +![Trajectory execution with default multiJointController](doc/traj_without_speed_scaling.png +"Trajectory execution with default multiJointController") + +This graph shows a trajectory with one joint being moved to a target point. The +joint speed is limited to 40% on the teach pendant, speed scaling activates and +limits the joint speed. As a result, the target trajectory (blue) doesn't get executed +by the robot, instead the red trajectory is executed. The green line is the error +between the blue and red line in each control cycle. We can also see that the robot +ends up oscillating around the target joint position. + +All of the cases mentioned above are addressed by the ScaledMultiJointController +versions. Trajectory execution can be transparently scaled down using the speed +slider on the teach pendant without leading to additional path deviations. Pausing +the program or hitting the E-stop effectively leads to speed_scaling being 0 meaning +the trajectory will not be continued until the program is continued. This way, trajectory +executions can be explicitly paused and continued. + +With the ScaledMultiJointController the example motion shown in the previous diagram +becomes: + +![Trajectory execution with scaled_joint_trajectory_controller](doc/traj_with_speed_scaling.png +"Trajectory execution with scaled_joint_trajectory_controller") + +The deviation between trajectory interpolation on the Isaac side and actual robot +execution stays minimal and the robot reaches the setpoint instead of oscillating +around it. + +Under the hood this is implemented by proceeding the trajectory not by a full time +step but only by the fraction determined by the current speed scaling. If speed +scaling is currently at 50% then interpolation of the current control cycle will +start half a time step after the beginning of the previous control cycle. diff --git a/ur_controller/ScaledMultiJointController.cpp b/ur_controller/ScaledMultiJointController.cpp new file mode 100644 index 0000000..d864e98 --- /dev/null +++ b/ur_controller/ScaledMultiJointController.cpp @@ -0,0 +1,409 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include "ScaledMultiJointController.hpp" +#include "packages/map/KinematicTree.hpp" +#include "engine/gems/serialization/json.hpp" +#include "engine/gems/serialization/json_formatter.hpp" + +namespace isaac +{ +namespace ur_controller +{ +void ScaledMultiJointController::start() +{ + // Try to get the map::KinematicTree component + const auto maybe_kinematic_tree_node = try_get_kinematic_tree(); + if (!maybe_kinematic_tree_node) + { + reportFailure("KinematicTree node is not specified."); + return; + } + const auto maybe_kinematic_tree_component = + node()->app()->getNodeComponentOrNull(*maybe_kinematic_tree_node); + if (!maybe_kinematic_tree_component) + { + reportFailure("Node %s does not contain KinematicTree component.", maybe_kinematic_tree_node->c_str()); + return; + } + + // Get the kinematic_tree object + const kinematic_tree::KinematicTree& model = maybe_kinematic_tree_component->model(); + const auto& links = model.getActiveLinks(); + joint_names_.clear(); + for (const auto* link : links) + { + joint_names_.push_back(link->name); + } + + // Update states according to number of joints + number_of_joints_ = joint_names_.size(); + controllerState_ = State(number_of_joints_); + robotState_ = State(number_of_joints_); + errorState_ = State(number_of_joints_); + cur_traj_.resize(number_of_joints_); + successful_joints_.resize(number_of_joints_); + plan_parser_.resize(number_of_joints_); + pid_.resize(number_of_joints_); + ff_term_.resize(number_of_joints_); + + control_mode_ = get_control_mode(); + interpolation_scheme_ = get_interpolation_scheme(); + succesful_arm_parse_ = false; + succesful_plan_parse_ = false; + + // Init parsers and schemas. + initPlanParser(); + initStateParser(); + initCommandSchema(); + + // Setup tick + tickPeriodically(); +} + +void ScaledMultiJointController::tick() +{ + if (rx_plan().available()) + { + const int64_t time = rx_plan().acqtime(); + bool isFirstMessage = !plan_time_; + bool unseenMessage = time > *plan_time_; + if (isFirstMessage || unseenMessage) + { + plan_time_ = time; + succesful_plan_parse_ = parsePlan(); + + // Update time data + period_ = 0; + controller_uptime_ = getTickTime(); + tick_time_ = getTickTime(); + } + } + if (rx_current_arm_state().available()) + { + const int64_t time = rx_current_arm_state().acqtime(); + bool isFirstMessage = !arm_time_; + bool unseenMessage = time > *arm_time_; + if (isFirstMessage || unseenMessage) + { + arm_time_ = time; + succesful_arm_parse_ = parseJointStates(); + // initialize joints + if (isFirstMessage && succesful_arm_parse_) + { + for (unsigned int i = 0; i < number_of_joints_; ++i) + { + controllerState_.position[i] = robotState_.position[i]; + controllerState_.velocity[i] = robotState_.velocity[i]; + controllerState_.acceleration[i] = 0.0; + } + } + } + } + if (succesful_plan_parse_ && succesful_arm_parse_) + { + calculateCommand(); + publishCommand(); + } +} + +void ScaledMultiJointController::initPlanParser() +{ + switch (interpolation_scheme_) + { + case linear_interpolation: + for (unsigned int i = 0; i < number_of_joints_; ++i) + { + std::vector quantities; + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kPosition)); + plan_parser_[i].requestSchema(std::move(quantities)); + } + return; + case cubic_interpolation: + for (unsigned int i = 0; i < number_of_joints_; ++i) + { + std::vector quantities; + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kPosition)); + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kSpeed)); + plan_parser_[i].requestSchema(std::move(quantities)); + } + return; + case quintic_interpolation: + for (unsigned int i = 0; i < number_of_joints_; ++i) + { + std::vector quantities; + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kPosition)); + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kSpeed)); + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kAcceleration)); + plan_parser_[i].requestSchema(std::move(quantities)); + } + return; + default: + LOG_WARNING("interpolation shceme not recognized"); + return; + } +} + +void ScaledMultiJointController::initStateParser() +{ + position_state_parser_.requestSchema(composite::Schema(joint_names_, composite::Measure::kPosition)); + velocity_state_parser_.requestSchema(composite::Schema(joint_names_, composite::Measure::kSpeed)); + + std::vector misc_names; + misc_names.push_back(composite::Quantity::Scalar("speed_fraction", composite::Measure::kNone)); + speed_fraction_parser_.requestSchema(composite::Schema(std::move(misc_names))); +} + +bool ScaledMultiJointController::parsePlan() +{ + // Reset plan parser if interpolation scheme changes. + if (interpolation_scheme_ != get_interpolation_scheme()) + { + interpolation_scheme_ = get_interpolation_scheme(); + initPlanParser(); + } + std::vector > parsed_traj(6); + for (unsigned int i = 0; i < number_of_joints_; ++i) + { + if (!plan_parser_[i].parse(rx_plan().getProto(), rx_plan().buffers(), "time", parsed_traj[i])) + { + LOG_WARNING("failed to parse plan for joint %s", joint_names_[i].c_str()); + return false; + } + } + // Initilaize trajectory + initTrajectory(parsed_traj); + return true; +} + +bool ScaledMultiJointController::parseJointStates() +{ + VectorXd current_position(number_of_joints_); + if (!position_state_parser_.parse(rx_current_arm_state().getProto(), rx_current_arm_state().buffers(), + current_position)) + { + LOG_WARNING("Failed to parse joint position from driver"); + return false; + } + VectorXd current_velocity(number_of_joints_); + if (!velocity_state_parser_.parse(rx_current_arm_state().getProto(), rx_current_arm_state().buffers(), + current_velocity)) + { + LOG_WARNING("Failed to parse joint velocity from driver"); + return false; + } + VectorXd speed_fraction(1); + if (!speed_fraction_parser_.parse(rx_current_arm_state().getProto(), rx_current_arm_state().buffers(), + speed_fraction)) + { + LOG_WARNING("Failed to parse speed scaling from driver"); + return false; + } + robotState_.position = current_position; + robotState_.velocity = current_velocity; + speed_fraction_ = speed_fraction[0]; + return true; +} + +void ScaledMultiJointController::initCommandSchema() +{ + std::vector quantities; + if (control_mode_ == kJointPosition) + { + for (unsigned int i = 0; i < number_of_joints_; i++) + { + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kPosition)); + } + } + else if (control_mode_ == kJointSpeed) + { + for (unsigned int i = 0; i < number_of_joints_; i++) + { + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kSpeed)); + } + } + else + { + LOG_WARNING("invalid control mode"); + return; + } + command_schema_ = composite::Schema(std::move(quantities)); +} + +void ScaledMultiJointController::publishCommand() +{ + // Reset command schema if control mode changes + ArmControlMode mode = get_control_mode(); + if (control_mode_ != mode) + { + control_mode_ = mode; + initCommandSchema(); + } + + if (control_mode_ == kInvalid) + { + LOG_WARNING("invalid control mode"); + return; + } + auto proto_builder = tx_joint_command().initProto(); + composite::WriteSchema(command_schema_, proto_builder); + + // Allocate tensor1d to store state data + Tensor1d state_data(number_of_joints_); + + if (control_mode_ == kJointPosition) + { + for (unsigned int i = 0; i < number_of_joints_; i++) + { + state_data(i) = controllerState_.position[i]; + } + } + else if (control_mode_ == kJointSpeed) + { + for (unsigned int i = 0; i < number_of_joints_; i++) + { + state_data(i) = controllerState_.velocity[i]; + } + } + ToProto(std::move(state_data), proto_builder.initValues(), tx_joint_command().buffers()); + tx_joint_command().publish(); +} + +void ScaledMultiJointController::publishTrajectoryStatus(bool trajectory_status) +{ + auto proto = tx_trajectory_executed_succesfully().initProto(); + proto.setFlag(trajectory_status); + tx_trajectory_executed_succesfully().publish(); +} + +void ScaledMultiJointController::calculateCommand() +{ + // Update time according to current speed scale + period_ = (getTickTime() - tick_time_) * speed_fraction_; + controller_uptime_ = controller_uptime_ + period_; + tick_time_ = getTickTime(); + + for (unsigned int i = 0; i < number_of_joints_; ++i) + { + // Interpolate current trajectory + cur_traj_[i].interpolate(controller_uptime_, controllerState_.position[i], controllerState_.velocity[i], + controllerState_.acceleration[i]); + + errorState_.position[i] = DeltaAngle(controllerState_.position[i], robotState_.position[i]); + errorState_.velocity[i] = controllerState_.velocity[i] - robotState_.velocity[i]; + errorState_.acceleration[i] = 0.0; + + // Check tolerance, if there is an active goal + if (active_goal_) + { + const double end_time = cur_traj_[i].endTime(); + // Done executing last segment in the trajectory + if (controller_uptime_ > end_time) + { + const bool inside_goal_tolerance = insideTolerance(errorState_.position[i]); + if (inside_goal_tolerance) + { + successful_joints_[i] = 1; + } + else if (controller_uptime_ < end_time + get_goal_time()) + { + // Still have time to reach target + } + else + { + LOG_ERROR("Tolerance failed for joint: %s", joint_names_[i].c_str()); + active_goal_ = false; + publishTrajectoryStatus(false); + } + } + } + if (control_mode_ == kJointSpeed && active_pid_) + { + double target = pid_[i].calculate(errorState_.position[i], errorState_.velocity[i], period_); + controllerState_.velocity[i] = controllerState_.velocity[i] * ff_term_[i] + target; + } + // Show data + show(joint_names_[i] + " position error", errorState_.position[i]); + show(joint_names_[i] + " velocity error", errorState_.velocity[i]); + show(joint_names_[i] + " position", controllerState_.position[i]); + show(joint_names_[i] + " velocity", controllerState_.velocity[i]); + show(joint_names_[i] + " acceleration", controllerState_.acceleration[i]); + } + if (active_goal_) + { + unsigned int count = + std::accumulate(successful_joints_.begin(), successful_joints_.end(), static_cast(0)); + if (count == number_of_joints_) + { + active_goal_ = false; + std::fill(successful_joints_.begin(), successful_joints_.end(), false); + publishTrajectoryStatus(true); + } + } +} + +bool ScaledMultiJointController::insideTolerance(const double& error_pos) +{ + // The check is only made if the tolerance is above 0 + const double tolerance = get_tolerance(); + return !(tolerance > 0.0 && std::abs(error_pos) > tolerance); +} + +void ScaledMultiJointController::initTrajectory(std::vector > trajectory) +{ + // Get PID gains + nlohmann::json gains = get_gains(); + + active_pid_ = true; + for (unsigned int i = 0; i < number_of_joints_; ++i) + { + // Initialize trajectory + cur_traj_[i].initTrajectory(trajectory[i]); + + const auto pid_joint = serialization::TryGetFromMap(gains, joint_names_[i]); + if (pid_joint) + { + ff_term_[i] = serialization::GetFromMapOrDefault(*pid_joint, "velocity_ff", 1.0); + if (!pid_[i].init(*pid_joint)) + { + active_pid_ = false; + } + } + else + { + active_pid_ = false; + } + } + active_goal_ = true; + std::fill(successful_joints_.begin(), successful_joints_.end(), false); +} + +} // namespace ur_controller +} // namespace isaac \ No newline at end of file diff --git a/ur_controller/ScaledMultiJointController.hpp b/ur_controller/ScaledMultiJointController.hpp new file mode 100644 index 0000000..3eb3986 --- /dev/null +++ b/ur_controller/ScaledMultiJointController.hpp @@ -0,0 +1,290 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#pragma once +#include +#include +#include + +#include "engine/alice/alice_codelet.hpp" +#include "messages/composite.capnp.h" +#include "messages/basic.capnp.h" +#include "packages/composite/gems/parser.hpp" +#include "engine/gems/algorithm/timeseries.hpp" +#include "JointTrajectory.hpp" +#include "Pid.hpp" + +namespace isaac +{ +namespace ur_controller +{ +/*! + * \brief Possible control modes for arm. + */ +enum ArmControlMode +{ + kJointPosition, // Control joints position + kJointSpeed, // Control joints speed + kInvalid = -1 // Invalid control mode, returned from an invalid string in JSON +}; + +/*! + * \brief Possible interpolation schemes. + */ +enum InterpolationScheme +{ + linear_interpolation, // line ax+b + cubic_interpolation, // cubic polynomium - ax^3+bx^2+cx+d + quintic_interpolation, // quintic polynomium - ax^5+bx^4+cx^3+dx^2+ex+f + invalid_interpolation = -1 // Invalid interpolation mode, returned from an invalid string in JSON +}; + +/*! + * \brief Mapping between each ArmControlMode type and an identifying string. + */ +NLOHMANN_JSON_SERIALIZE_ENUM(ArmControlMode, { { kInvalid, nullptr }, + { kJointPosition, "joint position" }, + { kJointSpeed, "joint speed" } }); + +/*! + * \brief Mapping between each Interpolation scheme and an identifying string. + */ +NLOHMANN_JSON_SERIALIZE_ENUM(InterpolationScheme, { { invalid_interpolation, nullptr }, + { linear_interpolation, "linear interpolation" }, + { cubic_interpolation, "cubic interpolation" }, + { quintic_interpolation, "quintic interpolation" } }); + +/*! + * \brief This ScaledMultiJointController class receives a trajectory and calculates the actual joint command + * to publish each iteration. It slows down trajectory execution according to the actual speedscaling of the robot. + */ + +class ScaledMultiJointController : public isaac::alice::Codelet +{ +public: + /*! + * \brief Handles the setup functionality of this class. This includes collecting the kinematic tree node, + * setting up memory according to number of joints and setting up message parsing parameters. + */ + void start() override; + + /*! + * \brief This functions is run cyclic with a fixed frequency. It checks whether a new trajectory message is available + * and whether a new current arm state message is availabe and it calculates and publishes the actual joint command. + */ + void tick() override; + + /*! + * \brief Receives current state of the robot arm, this also includes the actual speedscaling. + */ + ISAAC_PROTO_RX(CompositeProto, current_arm_state); + + /*! + * \brief Receives a plan that contains a trajectory for each joint. If linear interpolation is configured + * the trajectory must contain joint position. If cubic interpolation is configured the trajectory must contain joint + * position and joint speeds. If quintic interpolation is configured the trajectory must contain joint positions, + * joint speeds and joint accelerations. + */ + ISAAC_PROTO_RX(CompositeProto, plan); + + /*! + * \brief Publishes the actual joint command as joint position or joint speeds based upon control_mode. + */ + ISAAC_PROTO_TX(CompositeProto, joint_command); + + /*! + * \brief Publishes the status after a trajectory has been executed. The flag will be true if the joints are within + * the tolerance after trajectory execution and false otherwise. + */ + ISAAC_PROTO_TX(BooleanProto, trajectory_executed_succesfully); + + /*! + * \brief Name of the node containing the map:KinematicTree component. This is used to obtain the names + * of the joints for parsing/creating composite message. + */ + ISAAC_PARAM(std::string, kinematic_tree); + + /*! + * \brief Set the interpolation scheme used to calculate joint commands. + */ + ISAAC_PARAM(InterpolationScheme, interpolation_scheme, quintic_interpolation); + + /*! + * \brief Set the control mode. + */ + ISAAC_PARAM(ArmControlMode, control_mode, kJointPosition); + + /*! + * \brief Time after the last waypoint in the trajectory is published and until the joints should be within the + * tolerance. + */ + ISAAC_PARAM(double, goal_time, 0.0); + + /*! + * \brief Tolerance for arrival. The trajectory is completed when the error for all joints is below this tolerance + * after the last waypoint in the trajectory is published. If the tolerance is 0.0, no check will be made. + */ + ISAAC_PARAM(double, tolerance, 0.0); + + /*! + * \brief PID gains for each joint, used when control mode is kJointSpeed. + */ + ISAAC_PARAM(nlohmann::json, gains, (nlohmann::json{ { "gains", {} } })); + +private: + /*! + * \brief A state storing position, velocity and acceleration for each joint in the robot. + * + * \param size number of joints in the robot. + */ + struct State + { + State() + { + } + + State(const unsigned int size) : position(size), velocity(size), acceleration(size) + { + } + VectorXd position; + VectorXd velocity; + VectorXd acceleration; + }; + + /*! + * \brief Request a schema for parsing arm state and trajectory, trajectory is parsed + * based on interpolation scheme. + */ + void initPlanParser(); + void initStateParser(); + + /*! + * \brief Parse received trajectory and received joint states. + * + * \returns true on succesful parse + */ + bool parsePlan(); + bool parseJointStates(); + + /*! + * \brief Generate composite schema for publishing current command + */ + void initCommandSchema(); + + /*! + * \brief Publish current command and trajectory status. + * + * \param trajectory_status the trajectory status after execution. + */ + void publishCommand(); + void publishTrajectoryStatus(bool trajectory_status); + + /*! + * \brief Calculate the current joint command. + */ + void calculateCommand(); + + /*! + * \brief Test that we are inside the tolerance. + * + * \param error_pos Error between robot position and controller position. + * + * \returns true if inside tolerance. + */ + bool insideTolerance(const double& error_pos); + + /*! + * \brief Initialize a new trajectory for each joint in the robot. + * + * \param trajectory Recevied trajectory. + */ + void initTrajectory(std::vector> trajectory); + + // Current control period, the period is scaled according to the actual speedscaling. + double period_; + + // Controller uptime, updated based on period. + double controller_uptime_; + + // Current time of the tick + double tick_time_; + + // Current speed fraction + double speed_fraction_; + + // Current trajectory object for each joint + std::vector cur_traj_; + + // Controller, robot and error state. + State controllerState_, robotState_, errorState_; + + // Parsers for arm state. + composite::Parser position_state_parser_; + composite::Parser velocity_state_parser_; + composite::Parser speed_fraction_parser_; + + // Parser for trajectory for each joint. + std::vector plan_parser_; + + // Bools feflecting if parsing message was succesful + bool succesful_plan_parse_; + bool succesful_arm_parse_; + + // Cache list of joint names used in the kinematic tree + std::vector joint_names_; + + // Number of joints + unsigned int number_of_joints_; + + // Acquire time for most recently received plan and arm state + std::optional plan_time_; + std::optional arm_time_; + + // Cache composite schema for current joint command + composite::Schema command_schema_; + + // Cache current control_mode and current interpolation scheme + ArmControlMode control_mode_; + InterpolationScheme interpolation_scheme_; + + // Used to store information about, when target position is reached + std::vector successful_joints_; + bool active_goal_; + + // Pid controller + std::vector> pid_; + std::vector ff_term_; + bool active_pid_; +}; + +} // namespace ur_controller +} // namespace isaac + +ISAAC_ALICE_REGISTER_CODELET(isaac::ur_controller::ScaledMultiJointController) \ No newline at end of file diff --git a/ur_controller/apps/BUILD b/ur_controller/apps/BUILD new file mode 100644 index 0000000..88a60c6 --- /dev/null +++ b/ur_controller/apps/BUILD @@ -0,0 +1,13 @@ +load("//bzl:module.bzl", "isaac_subgraph") + +isaac_subgraph( + name = "scaled_multi_joint_ur_control_subgraph", + modules = [ + "map", + "planner", + "lqr", + "//packages/universal_robots/ur_controller:ur_controller", + ], + subgraph = "scaled_multi_joint_ur_control.subgraph.json", + visibility = ["//visibility:public"], +) \ No newline at end of file diff --git a/ur_controller/apps/scaled_multi_joint_ur_control.subgraph.json b/ur_controller/apps/scaled_multi_joint_ur_control.subgraph.json new file mode 100644 index 0000000..c700730 --- /dev/null +++ b/ur_controller/apps/scaled_multi_joint_ur_control.subgraph.json @@ -0,0 +1,110 @@ +{ + "modules": [ + "map", + "lqr", + "planner", + "//packages/universal_robots/ur_controller:ur_controller" + ], + "graph": { + "nodes": [ + { + "name": "subgraph", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "interface", + "type": "isaac::alice::Subgraph" + } + ] + }, + { + "start_order": -100, + "name": "kinematic_tree", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "KinematicTree", + "type": "isaac::map::KinematicTree" + } + ] + }, + { + "name": "local_plan", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "MultiJointLqrPlanner", + "type": "isaac::lqr::MultiJointLqrPlanner" + }, + { + "name": "MultiJointPlanner", + "type": "isaac::planner::MultiJointPlanner" + } + ] + }, + { + "name": "controller", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "ScaledMultiJointController", + "type": "isaac::ur_controller::ScaledMultiJointController" + } + ] + } + ], + "edges": [ + { + "source": "subgraph/interface/joint_state", + "target": "local_plan/MultiJointPlanner/starting_state" + }, + { + "source": "subgraph/interface/joint_target", + "target": "local_plan/MultiJointPlanner/target_state" + }, + { + "source": "local_plan/MultiJointPlanner/plan", + "target": "controller/ScaledMultiJointController/plan" + }, + { + "source": "controller/ScaledMultiJointController/joint_command", + "target": "subgraph/interface/joint_command" + }, + { + "source": "subgraph/interface/joint_state", + "target": "controller/ScaledMultiJointController/current_arm_state" + }, + { + "source": "subgraph/interface/trajectory_executed_succesfully", + "target": "controller/ScaledMultiJointController/trajectory_executed_succesfully" + } + ] + }, + "config": { + "local_plan": { + "MultiJointPlanner": { + "tick_period": "10Hz", + "kinematic_tree_node_name": "$(fullname kinematic_tree)", + "multi_joint_planner_node_name": "$(fullname local_plan)" + } + }, + "controller": { + "ScaledMultiJointController": { + "tick_period": "500Hz", + "kinematic_tree": "$(fullname kinematic_tree)" + } + } + } +} \ No newline at end of file diff --git a/ur_controller/doc/traj_with_speed_scaling.png b/ur_controller/doc/traj_with_speed_scaling.png new file mode 100644 index 0000000000000000000000000000000000000000..2a3d33bd591a8f42324bf61f58e16cfb9a1c353e GIT binary patch literal 27194 zcmd>m1y@yJ7v`lzMZgP4mlqIGx*HV`R3sHpkPej&=~AQ-1eH!H5eY@QyGv9+y1Tn) 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zoS=Tl+qwYmFW6pDfK~ITCtEvn(?nQjn!#TF-5rKBODp$0RO#ZDl1hMS=LlYc9*BFP z<*?~j`~v$1rHUNkdK`A*uSRup(3Fz@(QrQ^5=IeYzdlh=3nz7mkYg4A+@pomWde2} zDBJ?yF-tsveRbH@2oe~+8`j)`2?B6`=LdIaB9`DvRdM7mFoJq{J%j*|2y?P*lmN^j z6cqgccPe5M56^x3U;c)bG2)l}5C22s|L>ms?_VENwHtA^K4P1Jnz<;{Z6!6u?>CKK F{RijO>%#y5 literal 0 HcmV?d00001 diff --git a/ur_controller/tests/BUILD b/ur_controller/tests/BUILD new file mode 100644 index 0000000..e3faa51 --- /dev/null +++ b/ur_controller/tests/BUILD @@ -0,0 +1,12 @@ +load("@com_nvidia_isaac_engine//bzl:isaac_engine.bzl", "isaac_cc_test_group") + +isaac_cc_test_group( + srcs = glob(["*.cpp"]), + deps = [ + "//packages/universal_robots/ur_controller:ur_controller_test", + "//packages/composite/gems:serializer", + ], + data = [ + "//apps/assets/kinematic_trees" + ] +) \ No newline at end of file diff --git a/ur_controller/tests/JointSegment.cpp b/ur_controller/tests/JointSegment.cpp new file mode 100644 index 0000000..1b46bc2 --- /dev/null +++ b/ur_controller/tests/JointSegment.cpp @@ -0,0 +1,344 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include "packages/universal_robots/ur_controller/JointSegment.hpp" +#include "engine/gems/math/test_utils.hpp" +#include "gtest/gtest.h" + +namespace isaac +{ +namespace ur_controller +{ +double EPS = 1e-9; + +TEST(JointSegment, InvalidJointSegmentConstructionTest) +{ + Timeseries::Entry start_entry, end_entry; + + // Entry stamp mismatch + start_entry.stamp = 2.0; + end_entry.stamp = 1.0; + EXPECT_DEATH(JointSegment(start_entry, end_entry), "start_waypoint stamp shouldn't be larger than end_waypoint " + "stamp"); + + // Empty entry state + start_entry.stamp = 1.0; + end_entry.stamp = 2.0; + EXPECT_DEATH(JointSegment(start_entry, end_entry), "empty state"); + + // Entry state size mismatch + VectorXd start_state(3); + VectorXd end_state(2); + start_state[0] = 1; + start_state[1] = 1; + start_state[2] = 1; + end_state[0] = 1; + end_state[1] = 1; + start_entry.state = start_state; + end_entry.state = end_state; + EXPECT_DEATH(JointSegment(start_entry, end_entry), "start_waypoint and end_waypoint states size mismatch"); +} + +TEST(JointSegment, InterpolationOutsideSegment) +{ + Timeseries::Entry start_entry, end_entry; + + double start_time = 1.0; + double end_time = 2.0; + + VectorXd start_pos(1); + VectorXd end_pos(1); + start_pos << 1.0; + end_pos << 2.0; + + start_entry.stamp = start_time; + end_entry.stamp = end_time; + start_entry.state = start_pos; + end_entry.state = end_pos; + + JointSegment segment(start_entry, end_entry); + double position, velocity, acceleration; + + // Interpolate before start time + EXPECT_DEATH(segment.interpolate(0.5, position, velocity, acceleration), "Time stamp is not within the boundaries."); + + // Interpolate after end_time + EXPECT_DEATH(segment.interpolate(2.5, position, velocity, acceleration), "Time stamp is not within the boundaries."); +} + +TEST(JointSegment, LinearSegmentConstructionTest) +{ + double start_time = 1.0; + double end_time = 2.0; + + // Test linear segment + Timeseries::Entry linear_start_entry, linear_end_entry; + Vector6d linear_coefs, expected_linear_coefs; + + linear_start_entry.stamp = start_time; + linear_end_entry.stamp = end_time; + + VectorXd linear_start_pos(1); + VectorXd linear_end_pos(1); + linear_start_pos << 1.0; + linear_end_pos << 2.0; + linear_start_entry.state = linear_start_pos; + linear_end_entry.state = linear_end_pos; + + // Constructing linear segment of y=coef[0]+coef[1]x + JointSegment linear_segment(linear_start_entry, linear_end_entry); + + // Expected linear segment y = 1 + 1x + // coef[2] = coef[3] = coef[4] = coef[5] = 0 + expected_linear_coefs[0] = 1.0; + expected_linear_coefs[1] = 1.0; + expected_linear_coefs[2] = 0.0; + expected_linear_coefs[3] = 0.0; + expected_linear_coefs[4] = 0.0; + expected_linear_coefs[5] = 0.0; + + // Test that coefficients match + linear_coefs = linear_segment.getCoefficients(); + ISAAC_ASSERT_VEC_NEAR(linear_coefs, expected_linear_coefs, EPS); +} + +TEST(JointSegment, CubicSegmentConstructionTest) +{ + // Test cubic segment + double start_time = 1.0; + double end_time = 2.0; + Timeseries::Entry cubic_start_entry, cubic_end_entry; + Vector6d cubic_coefs, expected_cubic_coefs; + + cubic_start_entry.stamp = start_time; + cubic_end_entry.stamp = end_time; + + VectorXd cubic_start_state(2); + VectorXd cubic_end_state(2); + cubic_start_state << -2.511, 0.1; + cubic_end_state << -3.511, 0.589; + cubic_start_entry.state = cubic_start_state; + cubic_end_entry.state = cubic_end_state; + + // Constructing cubic segment of y=coef[0]+coef[1]x+coef[2]*x^2+coef[3]x^3 + JointSegment cubic_segment(cubic_start_entry, cubic_end_entry); + + // Expected cubic segment y = -2.511 + 0.1x + -3.789x^2 + 2.689x^3 + // coef[4] = coef[5] = 0 + expected_cubic_coefs[0] = -2.511; + expected_cubic_coefs[1] = 0.1; + expected_cubic_coefs[2] = -3.789; + expected_cubic_coefs[3] = 2.689; + expected_cubic_coefs[4] = 0.0; + expected_cubic_coefs[5] = 0.0; + + // Test that coefficients match + cubic_coefs = cubic_segment.getCoefficients(); + ISAAC_ASSERT_VEC_NEAR(cubic_coefs, expected_cubic_coefs, EPS); +} + +TEST(JointSegment, QuinticSegmentConstructionTest) +{ + // Test quintic segment + double start_time = 1.0; + double end_time = 2.0; + Timeseries::Entry quintic_start_entry, quintic_end_entry; + Vector6d quintic_coefs, expected_quintic_coefs; + + quintic_start_entry.stamp = start_time; + quintic_end_entry.stamp = end_time; + + VectorXd quintic_start_state(3); + VectorXd quintic_end_state(3); + quintic_start_state << -2.511, 0.1, 0.1; + quintic_end_state << -3.511, 0.589, 0.857; + quintic_start_entry.state = quintic_start_state; + quintic_end_entry.state = quintic_end_state; + + // Constructing quintic segment of y = coef[0] + coef[1]x + coef[2]*x^2 + coef[3]x^3 + coef[4]x^4 + coef[5]x^5 + JointSegment quintic_segment(quintic_start_entry, quintic_end_entry); + + // expected quintic segment y = -2.511 + 0.1x + 0.05x^2 - 12.6775x^3 + 19.216x^4 - 7.6885x^5 + expected_quintic_coefs[0] = -2.511; + expected_quintic_coefs[1] = 0.1; + expected_quintic_coefs[2] = 0.05; + expected_quintic_coefs[3] = -12.6775; + expected_quintic_coefs[4] = 19.216; + expected_quintic_coefs[5] = -7.6885; + + // Test that coefficients match + quintic_coefs = quintic_segment.getCoefficients(); + ISAAC_ASSERT_VEC_NEAR(quintic_coefs, expected_quintic_coefs, EPS); +} + +TEST(JointSegment, LinearInterpolationTest) +{ + // Linear function y = 1 + x + auto pos = [](double x) { return (1 + x); }; + Timeseries::Entry start_entry, end_entry; + double start_time = 1.0; + double end_time = 2.0; + + start_entry.stamp = start_time; + end_entry.stamp = end_time; + + VectorXd start_state(1); + VectorXd end_state(1); + start_state << 1.0; + end_state << 2.0; + start_entry.state = start_state; + end_entry.state = end_state; + + JointSegment linearSegment(start_entry, end_entry); + + const double duration = end_time - start_time; + const double expected_vel = (end_state[0] - start_state[0]) / duration; + double position, velocity, acceleration; + + // Interpolate at segment start + linearSegment.interpolate(start_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(start_state[0], position); + EXPECT_FLOAT_EQ(expected_vel, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); + + // Interpolate inside segment + double time = duration * ((double)rand() / (RAND_MAX)); + linearSegment.interpolate(start_time + time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(time), position); + EXPECT_FLOAT_EQ(expected_vel, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); + + // Interpolate at the end segment + linearSegment.interpolate(end_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(end_state[0], position); + EXPECT_FLOAT_EQ(expected_vel, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); +} + +TEST(JointSegment, CubicInterpolationTest) +{ + // Cubic function y = -2.511 + 0.1x - 3.789x^2 + 2.689x^3 + auto pos = [](double x) { return -2.511 + 0.1 * x - 3.789 * x * x + 2.689 * x * x * x; }; + auto vel = [](double x) { return 0.1 - 2.0 * 3.789 * x + 3.0 * 2.689 * x * x; }; + auto acc = [](double x) { return 2.0 * -3.789 + 6.0 * 2.689 * x; }; + + Timeseries::Entry start_entry, end_entry; + double start_time = 1.0; + double end_time = 2.0; + + start_entry.stamp = start_time; + end_entry.stamp = end_time; + + VectorXd start_state(2); + VectorXd end_state(2); + start_state << -2.511, 0.1; + end_state << -3.511, 0.589; + start_entry.state = start_state; + end_entry.state = end_state; + + JointSegment cubicSegment(start_entry, end_entry); + + double duration = end_time - start_time; + double position, velocity, acceleration; + + // interpolate at segment start + cubicSegment.interpolate(start_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(start_state[0], position); + EXPECT_FLOAT_EQ(vel(0.0), velocity); + EXPECT_FLOAT_EQ(acc(0.0), acceleration); + + // interpolate inside segment + double time = duration * ((double)rand() / (RAND_MAX)); + cubicSegment.interpolate(start_time + time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(time), position); + EXPECT_FLOAT_EQ(vel(time), velocity); + EXPECT_FLOAT_EQ(acc(time), acceleration); + + // interpolate at end segment + cubicSegment.interpolate(end_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(end_state[0], position); + EXPECT_FLOAT_EQ(end_state[1], velocity); + EXPECT_FLOAT_EQ(acc(duration), acceleration); +} + +TEST(JointSegment, QuinticInterpolationTest) +{ + // Quintic function y = -2.511 + 0.1x + 0.05x^2 - 12.6775x^3 + 19.216x^4 - 7.6885x^5 + auto pos = [](double x) { + return -2.511 + 0.1 * x + 0.05 * x * x - 12.6775 * x * x * x + 19.216 * x * x * x * x - 7.6885 * x * x * x * x * x; + }; + auto vel = [](double x) { + return 0.1 + 2.0 * 0.05 * x + 3.0 * -12.6775 * x * x + 4.0 * 19.216 * x * x * x + 5.0 * -7.6885 * x * x * x * x; + }; + auto acc = [](double x) { + return 2.0 * 0.05 + 6.0 * -12.6775 * x + 12.0 * 19.216 * x * x + 20.0 * -7.6885 * x * x * x; + }; + + Timeseries::Entry start_entry, end_entry; + double start_time = 1.0; + double end_time = 2.0; + + start_entry.stamp = start_time; + end_entry.stamp = end_time; + + VectorXd start_state(3); + VectorXd end_state(3); + start_state << -2.511, 0.1, 0.1; + end_state << -3.511, 0.589, 0.857; + start_entry.state = start_state; + end_entry.state = end_state; + + JointSegment quinticSegment(start_entry, end_entry); + + double duration = end_time - start_time; + double position, velocity, acceleration; + + // interpolate at segment start + quinticSegment.interpolate(start_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(start_state[0], position); + EXPECT_FLOAT_EQ(start_state[1], velocity); + EXPECT_FLOAT_EQ(start_state[2], acceleration); + + // interpolate inside segment + double time = duration * ((double)rand() / (RAND_MAX)); + quinticSegment.interpolate(start_time + time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(time), position); + EXPECT_FLOAT_EQ(vel(time), velocity); + EXPECT_FLOAT_EQ(acc(time), acceleration); + + // interpolate at end segment + quinticSegment.interpolate(end_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(end_state[0], position); + EXPECT_FLOAT_EQ(end_state[1], velocity); + EXPECT_FLOAT_EQ(end_state[2], acceleration); +} + +} // namespace ur_controller +} // namespace isaac \ No newline at end of file diff --git a/ur_controller/tests/JointTrajectory.cpp b/ur_controller/tests/JointTrajectory.cpp new file mode 100644 index 0000000..bd0c7a6 --- /dev/null +++ b/ur_controller/tests/JointTrajectory.cpp @@ -0,0 +1,249 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include "packages/universal_robots/ur_controller/JointTrajectory.hpp" +#include "gtest/gtest.h" + +namespace isaac +{ +namespace ur_controller +{ +double EPS = 1e-9; + +TEST(JointTrajectory, EmptyTrajectoryTest) +{ + Timeseries trajectory; + JointTrajectory joint_traj; + + EXPECT_DEATH(joint_traj.initTrajectory(trajectory), "The trajectory shouldn't be empty"); +} + +TEST(JointTrajectory, EndTimeTest) +{ + // Test that end time equals last entry in the plan + Timeseries trajectory; + VectorXd state(3); + state << 1, 2, 3; + trajectory.tryPush(1.0, state); + trajectory.tryPush(2.0, state); + trajectory.tryPush(3.0, state); + trajectory.tryPush(4.0, state); + + JointTrajectory joint_traj; + + joint_traj.initTrajectory(trajectory); + EXPECT_EQ(joint_traj.endTime(), 4.0); +} + +TEST(JointTrajectory, LinearInterpolationTest) +{ + // Linear function y = 1 + x + auto pos = [](double x) { return (1 + x); }; + + Timeseries trajectory; + + double start_time = 1.0; + double end_time = 2.0; + + VectorXd start_state(1); + VectorXd end_state(1); + start_state << 1.0; + end_state << 2.0; + + trajectory.tryPush(start_time, start_state); + trajectory.tryPush(end_time, end_state); + + JointTrajectory joint_traj; + + joint_traj.initTrajectory(trajectory); + + double position, velocity, acceleration; + + const double duration = end_time - start_time; + const double vel = (end_state[0] - start_state[0]) / duration; + + // Interpolate before trajectory start + joint_traj.interpolate(start_time - 0.5, position, velocity, acceleration); + EXPECT_FLOAT_EQ(start_state[0], position); + EXPECT_FLOAT_EQ(0.0, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); + + // Interpolate at trajectory start + joint_traj.interpolate(start_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(0.0), position); + EXPECT_FLOAT_EQ(vel, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); + + // Interpolate inside trajectory + double time = duration * ((double)rand() / (RAND_MAX)); + joint_traj.interpolate(start_time + time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(time), position); + EXPECT_FLOAT_EQ(vel, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); + + // Interpolate at trajectory end + joint_traj.interpolate(end_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(duration), position); + EXPECT_FLOAT_EQ(0.0, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); + + // Interpolate after trajectory end + joint_traj.interpolate(end_time + 0.5, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(duration), position); + EXPECT_FLOAT_EQ(0.0, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); +} + +TEST(JointTrajectory, CubicInterpolationTest) +{ + // Cubic function y = -2.511 + 0.1x - 3.789x^2 + 2.689x^3 for the only segment in the trajectory + auto pos = [](double x) { return -2.511 + 0.1 * x - 3.789 * x * x + 2.689 * x * x * x; }; + auto vel = [](double x) { return 0.1 - 2.0 * 3.789 * x + 3.0 * 2.689 * x * x; }; + auto acc = [](double x) { return 2.0 * -3.789 + 6.0 * 2.689 * x; }; + + Timeseries trajectory; + + double start_time = 1.0; + double end_time = 2.0; + + VectorXd start_state(2); + VectorXd end_state(2); + start_state << -2.511, 0.1; + end_state << -3.511, 0.589; + + trajectory.tryPush(start_time, start_state); + trajectory.tryPush(end_time, end_state); + + JointTrajectory joint_traj; + + joint_traj.initTrajectory(trajectory); + + double position, velocity, acceleration; + const double duration = end_time - start_time; + + // Interpolate before trajectory start + joint_traj.interpolate(start_time - 0.5, position, velocity, acceleration); + EXPECT_FLOAT_EQ(start_state[0], position); + EXPECT_FLOAT_EQ(0.0, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); + + // Interpolate at trajectory start + joint_traj.interpolate(start_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(0.0), position); + EXPECT_FLOAT_EQ(vel(0.0), velocity); + EXPECT_FLOAT_EQ(acc(0.0), acceleration); + + // Interpolate inside trajectory + double time = duration * ((double)rand() / (RAND_MAX)); + joint_traj.interpolate(start_time + time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(time), position); + EXPECT_FLOAT_EQ(vel(time), velocity); + EXPECT_FLOAT_EQ(acc(time), acceleration); + + // Interpolate at trajectory end + joint_traj.interpolate(end_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(duration), position); + EXPECT_FLOAT_EQ(vel(duration), velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); + + // Interpolate after trajectory end + joint_traj.interpolate(end_time + 0.5, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(duration), position); + EXPECT_FLOAT_EQ(0.0, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); +} + +TEST(JointTrajectory, QuinticInterpolationTest) +{ + // Quintic function y = -2.511 + 0.1x + 0.05x^2 - 12.6775x^3 + 19.216x^4 - 7.6885x^5 + auto pos = [](double x) { + return -2.511 + 0.1 * x + 0.05 * x * x - 12.6775 * x * x * x + 19.216 * x * x * x * x - 7.6885 * x * x * x * x * x; + }; + auto vel = [](double x) { + return 0.1 + 2.0 * 0.05 * x + 3.0 * -12.6775 * x * x + 4.0 * 19.216 * x * x * x + 5.0 * -7.6885 * x * x * x * x; + }; + auto acc = [](double x) { + return 2.0 * 0.05 + 6.0 * -12.6775 * x + 12.0 * 19.216 * x * x + 20.0 * -7.6885 * x * x * x; + }; + + Timeseries trajectory; + + double start_time = 1.0; + double end_time = 2.0; + + VectorXd start_state(3); + VectorXd end_state(3); + start_state << -2.511, 0.1, 0.1; + end_state << -3.511, 0.589, 0.857; + + trajectory.tryPush(start_time, start_state); + trajectory.tryPush(end_time, end_state); + + JointTrajectory joint_traj; + + joint_traj.initTrajectory(trajectory); + + double position, velocity, acceleration; + const double duration = end_time - start_time; + + // Interpolate before trajectory start + joint_traj.interpolate(start_time - 0.5, position, velocity, acceleration); + EXPECT_FLOAT_EQ(start_state[0], position); + EXPECT_FLOAT_EQ(0.0, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); + + // Interpolate at trajectory start + joint_traj.interpolate(start_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(0.0), position); + EXPECT_FLOAT_EQ(vel(0.0), velocity); + EXPECT_FLOAT_EQ(acc(0.0), acceleration); + + // Interpolate inside trajectory + double time = duration * ((double)rand() / (RAND_MAX)); + joint_traj.interpolate(start_time + time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(time), position); + EXPECT_FLOAT_EQ(vel(time), velocity); + EXPECT_FLOAT_EQ(acc(time), acceleration); + + // Interpolate at trajectory end + joint_traj.interpolate(end_time, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(duration), position); + EXPECT_FLOAT_EQ(vel(duration), velocity); + EXPECT_FLOAT_EQ(acc(duration), acceleration); + + // Interpolate after trajectory end + joint_traj.interpolate(end_time + 0.5, position, velocity, acceleration); + EXPECT_FLOAT_EQ(pos(duration), position); + EXPECT_FLOAT_EQ(0.0, velocity); + EXPECT_FLOAT_EQ(0.0, acceleration); +} + +} // namespace ur_controller +} // namespace isaac diff --git a/ur_controller/tests/Pid.cpp b/ur_controller/tests/Pid.cpp new file mode 100644 index 0000000..425e739 --- /dev/null +++ b/ur_controller/tests/Pid.cpp @@ -0,0 +1,189 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include "packages/universal_robots/ur_controller/Pid.hpp" +#include "gtest/gtest.h" + +namespace isaac +{ +namespace ur_controller +{ +TEST(Pid, BadDurationTest) +{ + Pid pid; + pid.initPid(1.0, 0.0, 0.0, 1.0, -1.0); + + // When duration time is zero or less than zero we expect the output to be zero. + EXPECT_EQ(pid.calculate(1.0, 0.0), 0.0); + EXPECT_EQ(pid.calculate(1.0, -1.0), 0.0); + EXPECT_EQ(pid.calculate(1.0, 1.0, -1.0), 0.0); + EXPECT_EQ(pid.calculate(1.0, 1.0, 0.0), 0.0); +} + +TEST(Pid, ResetErrorsTest) +{ + Pid pid; + pid.initPid(1.0, 0.1, 0.1, 1.0, -1.0); + pid.calculate(1, 0.1, 0.1); + + double last_error, i_error; + pid.reset(); + pid.getErrors(last_error, i_error); + + EXPECT_EQ(last_error, 0); + EXPECT_EQ(i_error, 0); +} + +TEST(Pid, InitTest) +{ + Pid pid; + // Empty JSON object + nlohmann::json json = { { "gains", {} } }; + + // Init should return false, when there is no propertional gain + EXPECT_FALSE(pid.init(json)); + + double p_gain = 5.0; + double i_gain = 0.1; + double d_gain = 0.01; + double i_clamp = 1; + + // JSON + json = { { "p", p_gain }, { "i", i_gain }, { "d", d_gain }, { "i_clamp", i_clamp } }; + + // Init should now return true + EXPECT_TRUE(pid.init(json)); + + double p_return, i_return, d_return, i_max_return, i_min_return; + pid.getGains(p_return, i_return, d_return, i_max_return, i_min_return); + + EXPECT_EQ(p_gain, p_return); + EXPECT_EQ(i_gain, i_return); + EXPECT_EQ(d_gain, d_return); + EXPECT_EQ(std::abs(i_clamp), i_max_return); + EXPECT_EQ(-std::abs(i_clamp), i_min_return); +} + +TEST(Pid, PGainTest) +{ + Pid pid; + pid.initPid(1.0, 0.0, 0.0, 0.0, 0.0); + + double cmd = pid.calculate(-0.6, 1); + EXPECT_FLOAT_EQ(cmd, -0.6); + + cmd = pid.calculate(-0.2, 1); + EXPECT_FLOAT_EQ(cmd, -0.2); + + cmd = pid.calculate(0.2, 1); + EXPECT_FLOAT_EQ(cmd, 0.2); + + cmd = pid.calculate(0.8, 1); + EXPECT_FLOAT_EQ(cmd, 0.8); + + cmd = pid.calculate(0.0, 1); + EXPECT_FLOAT_EQ(cmd, 0.0); +} + +TEST(Pid, IGainTest) +{ + Pid pid; + pid.initPid(0.0, 1.0, 0.0, 10.0, -10.0); + + double cmd = pid.calculate(-0.6, 1); + EXPECT_FLOAT_EQ(cmd, -0.6); + + cmd = pid.calculate(-0.2, 1); + EXPECT_FLOAT_EQ(cmd, -0.8); + + cmd = pid.calculate(0.0, 1); + EXPECT_FLOAT_EQ(cmd, -0.8); + + pid.reset(); + + cmd = pid.calculate(0.2, 1); + EXPECT_FLOAT_EQ(cmd, 0.2); + + cmd = pid.calculate(0.8, 1); + EXPECT_FLOAT_EQ(cmd, 1.0); + + cmd = pid.calculate(0.0, 1); + EXPECT_FLOAT_EQ(cmd, 1.0); +} + +TEST(Pid, DGainTest) +{ + Pid pid; + pid.initPid(0.0, 0.0, 1.0, 0.0, 0.0); + + double cmd = pid.calculate(-0.6, 1); + EXPECT_FLOAT_EQ(cmd, -0.6); + + cmd = pid.calculate(-0.2, 1); + EXPECT_FLOAT_EQ(cmd, 0.4); + + cmd = pid.calculate(-0.2, 1); + EXPECT_FLOAT_EQ(cmd, 0.0); + + pid.reset(); + + cmd = pid.calculate(0.2, 1); + EXPECT_FLOAT_EQ(cmd, 0.2); + + cmd = pid.calculate(0.8, 1); + EXPECT_FLOAT_EQ(cmd, 0.6); + + cmd = pid.calculate(0.0, 1); + EXPECT_FLOAT_EQ(cmd, -0.8); +} + +TEST(Pid, CompleteGainTest) +{ + Pid pid; + pid.initPid(1.0, 1.0, 1.0, 10.0, -10.0); + + double cmd = pid.calculate(0.5, 1); + EXPECT_FLOAT_EQ(cmd, 1.5); + + cmd = pid.calculate(0.2, 1); + EXPECT_FLOAT_EQ(cmd, 0.6); + + cmd = pid.calculate(0.0, 1); + EXPECT_FLOAT_EQ(cmd, 0.5); + + cmd = pid.calculate(-0.2, 1); + EXPECT_FLOAT_EQ(cmd, 0.1); + + cmd = pid.calculate(-0.5, 1); + EXPECT_FLOAT_EQ(cmd, -0.8); +} + +} // namespace ur_controller +} // namespace isaac diff --git a/ur_controller/tests/ScaledMultiJointController.cpp b/ur_controller/tests/ScaledMultiJointController.cpp new file mode 100644 index 0000000..47c7cf6 --- /dev/null +++ b/ur_controller/tests/ScaledMultiJointController.cpp @@ -0,0 +1,646 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include + +#include "packages/composite/gems/serializer.hpp" +#include "packages/map/KinematicTree.hpp" +#include "gtest/gtest.h" +// In order to be able to test the private functions of ScaledMultiJointController and access private attributes +#define private public +#include "packages/universal_robots/ur_controller/ScaledMultiJointController.hpp" + +namespace isaac +{ +namespace ur_controller +{ +std::vector joint_names = { "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", + "wrist_1_joint", "wrist_2_joint", "wrist_3_joint" }; + +class PublishPlan : public isaac::alice::Codelet +{ +public: + void start() override + { + initQuinticSchema(); + tickPeriodically(); + } + void tick() override + { + if (get_send_trajectory()) + { + set_send_trajectory(false); + if (schema_name_ == "linear") + { + auto proto_builder = tx_trajectory().initProto(); + Timeseries, double> plan; + Vector state; + state << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; + plan.tryPush(1.0, state); + plan.tryPush(2.0, state); + plan.tryPush(3.0, state); + plan.tryPush(4.0, state); + serializer_.serialize(plan, composite::Quantity::Scalar("time", composite::Measure::kTime), proto_builder, + tx_trajectory().buffers()); + tx_trajectory().publish(); + } + else if (schema_name_ == "cubic") + { + set_send_trajectory(false); + auto proto_builder = tx_trajectory().initProto(); + Timeseries, double> plan; + Vector state; + state << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; + plan.tryPush(1.0, state); + plan.tryPush(2.0, state); + plan.tryPush(3.0, state); + plan.tryPush(4.0, state); + serializer_.serialize(plan, composite::Quantity::Scalar("time", composite::Measure::kTime), proto_builder, + tx_trajectory().buffers()); + tx_trajectory().publish(); + } + else if (schema_name_ == "quintic") + { + set_send_trajectory(false); + auto proto_builder = tx_trajectory().initProto(); + Timeseries, double> plan; + Vector state; + state << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; + plan.tryPush(1.0, state); + plan.tryPush(2.0, state); + plan.tryPush(3.0, state); + plan.tryPush(4.0, state); + serializer_.serialize(plan, composite::Quantity::Scalar("time", composite::Measure::kTime), proto_builder, + tx_trajectory().buffers()); + tx_trajectory().publish(); + } + else if (schema_name_ == "invalid") + { + set_send_trajectory(false); + auto proto_builder = tx_trajectory().initProto(); + Timeseries, double> plan; + Vector state; + state << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; + plan.tryPush(1.0, state); + plan.tryPush(2.0, state); + plan.tryPush(3.0, state); + plan.tryPush(4.0, state); + serializer_.serialize(plan, composite::Quantity::Scalar("time", composite::Measure::kTime), proto_builder, + tx_trajectory().buffers()); + tx_trajectory().publish(); + } + } + } + void initLinearSchema() + { + std::vector quantities; + quantities.push_back(composite::Quantity::Scalar("time", composite::Measure::kTime)); + for (unsigned int i = 0; i < joint_names.size(); ++i) + { + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kPosition)); + } + + schema_ = composite::Schema(std::move(quantities)); + serializer_.setSchema(schema_); + schema_name_ = "linear"; + } + void initCubcicSchema() + { + std::vector quantities; + quantities.push_back(composite::Quantity::Scalar("time", composite::Measure::kTime)); + for (unsigned int i = 0; i < joint_names.size(); ++i) + { + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kPosition)); + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kSpeed)); + } + + schema_ = composite::Schema(std::move(quantities)); + serializer_.setSchema(schema_); + schema_name_ = "cubic"; + } + void initQuinticSchema() + { + std::vector quantities; + quantities.push_back(composite::Quantity::Scalar("time", composite::Measure::kTime)); + for (unsigned int i = 0; i < joint_names.size(); ++i) + { + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kPosition)); + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kSpeed)); + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kAcceleration)); + } + schema_ = composite::Schema(std::move(quantities)); + serializer_.setSchema(schema_); + schema_name_ = "quintic"; + } + void initInvalidSchema() + { + std::vector quantities; + quantities.push_back(composite::Quantity::Scalar("time", composite::Measure::kTime)); + for (unsigned int i = 0; i < joint_names.size() - 1; ++i) + { + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kPosition)); + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kSpeed)); + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kAcceleration)); + } + schema_ = composite::Schema(std::move(quantities)); + serializer_.setSchema(schema_); + schema_name_ = "invalid"; + } + ISAAC_PROTO_TX(CompositeProto, trajectory); + + // Used to trigger when to send new trajecotry + ISAAC_PARAM(bool, send_trajectory, false); + + composite::Schema schema_; + composite::Serializer serializer_; + std::string schema_name_ = ""; +}; + +class PublishRobotState : public isaac::alice::Codelet +{ + void start() override + { + initStateSchema(); + tickPeriodically(); + } + void tick() override + { + auto proto_builder = tx_robot_state().initProto(); + composite::WriteSchema(state_schema_, proto_builder); + + Tensor1d state_data(13); + for (unsigned int i = 0; i < 12; ++i) + { + state_data(i) = 1; + } + state_data(12) = get_speed_fraction(); + + ToProto(std::move(state_data), proto_builder.initValues(), tx_robot_state().buffers()); + tx_robot_state().publish(); + } + void initStateSchema() + { + std::vector quantities; + for (unsigned int i = 0; i < joint_names.size(); i++) + { + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kPosition)); + quantities.push_back(composite::Quantity::Scalar(joint_names[i], composite::Measure::kSpeed)); + } + quantities.push_back(composite::Quantity::Scalar("speed_fraction", composite::Measure::kNone)); + state_schema_ = composite::Schema(std::move(quantities)); + } + + ISAAC_PROTO_TX(CompositeProto, robot_state); + // Speed fraction + ISAAC_PARAM(double, speed_fraction, 1.0); + + composite::Schema state_schema_; +}; + +class ReceiveJointCommand : public isaac::alice::Codelet +{ + void start() override + { + initCommandParser(get_control_mode()); + tickPeriodically(); + } + void tick() override + { + if (rx_joint_command().available()) + { + if (control_mode_ != get_control_mode()) + { + initCommandParser(get_control_mode()); + } + // Make sure we can parse command received from controller based upon control mode + VectorXd command(6); + EXPECT_TRUE(command_parser_.parse(rx_joint_command().getProto(), rx_joint_command().buffers(), command)); + } + } + void initCommandParser(const ArmControlMode mode) + { + control_mode_ = mode; + switch (mode) + { + case kJointPosition: + command_parser_.requestSchema(composite::Schema(joint_names, composite::Measure::kPosition)); + break; + case kJointSpeed: + command_parser_.requestSchema(composite::Schema(joint_names, composite::Measure::kSpeed)); + break; + default: + command_parser_.requestSchema({}); + return; + } + } + + ISAAC_PROTO_RX(CompositeProto, joint_command); + // Control mode + ISAAC_PARAM(ArmControlMode, control_mode, kJointPosition); + + ArmControlMode control_mode_; + composite::Parser command_parser_; +}; + +TEST(ScaledMultiJointController, InvalidKinematicTreeComponentTest) +{ + alice::Application first_app; + + // Setup nodes + auto node = first_app.createMessageNode("test"); + auto controller = node->addComponent(); + + // Setup configuration + controller->async_set_tick_period("100Hz"); + + first_app.enableStopOnTimeout(0.2); + first_app.runBlocking(); + + std::string status_msg = controller->getStatusMessage(); + std::string expected_msg = "KinematicTree node is not specified."; + EXPECT_EQ(controller->getStatus(), alice::Status::FAILURE); + EXPECT_STREQ(status_msg.c_str(), expected_msg.c_str()); + + alice::Application second_app; + // Setup nodes + node = second_app.createMessageNode("test"); + controller = node->addComponent(); + + // Setup configuration + controller->async_set_kinematic_tree("apps/assets/kinematic_trees/ur10.kinematic.json"); + controller->async_set_tick_period("100Hz"); + + second_app.enableStopOnTimeout(0.2); + second_app.runBlocking(); + + status_msg = controller->getStatusMessage(); + expected_msg = "Node apps/assets/kinematic_trees/ur10.kinematic.json does not contain KinematicTree component."; + EXPECT_EQ(controller->getStatus(), alice::Status::FAILURE); + EXPECT_STREQ(status_msg.c_str(), expected_msg.c_str()); +} + +TEST(ScaledMultiJointController, ToleranceTest) +{ + alice::Application app; + // Setup nodes + auto controller_node = app.createMessageNode("controller"); + auto controller = controller_node->addComponent(); + + auto kinematic_tree_node = app.createMessageNode("kinematic"); + auto kinematic_tree = kinematic_tree_node->addComponent("kinematic_tree"); + + // Setup configuration + kinematic_tree_node->start_order = -100; + kinematic_tree->async_set_kinematic_file("apps/assets/kinematic_trees/ur10.kinematic.json"); + + controller->async_set_tick_period("100Hz"); + controller->async_set_kinematic_tree("kinematic"); + + app.runAsync(); + Sleep(500000000); // give time to start application + + // No tolerance configured, it should always return true + EXPECT_TRUE(controller->insideTolerance(0.2)); + EXPECT_TRUE(controller->insideTolerance(10)); + + controller->async_set_tolerance(0.1); + Sleep(500000000); // Give time to set the tolerance + + // Inside tolerance + EXPECT_TRUE(controller->insideTolerance(0.05)); + // At tolerance + EXPECT_TRUE(controller->insideTolerance(0.1)); + // Outside tolerance + EXPECT_FALSE(controller->insideTolerance(0.2)); + + app.stopBlocking(); +} + +TEST(ScaledMultiJointController, InitTrajectoryTest) +{ + alice::Application app; + + // Setup nodes + auto controller_node = app.createMessageNode("controller"); + auto controller = controller_node->addComponent(); + + auto kinematic_tree_node = app.createMessageNode("kinematic"); + auto kinematic_tree = kinematic_tree_node->addComponent("kinematic_tree"); + + // Setup configuration + kinematic_tree_node->start_order = -100; + kinematic_tree->async_set_kinematic_file("apps/assets/kinematic_trees/ur10.kinematic.json"); + + controller->async_set_tick_period("100Hz"); + controller->async_set_kinematic_tree("kinematic"); + + app.runAsync(); + Sleep(500000000); // give time to start application + + std::vector > trajectory(joint_names.size()); + + VectorXd start_state(1); + VectorXd mid_state(1); + VectorXd end_state(1); + start_state << 1.0; + mid_state << 1.5; + end_state << 2.0; + + for (unsigned int i = 0; i < joint_names.size(); ++i) + { + trajectory[i].tryPush(1.0, start_state); + trajectory[i].tryPush(2.0, mid_state); + trajectory[i].tryPush(3.0, end_state); + } + + controller->initTrajectory(trajectory); + // We expect an active goal and 0 successful joints after init trajectory + unsigned int count = std::accumulate(controller->successful_joints_.begin(), controller->successful_joints_.end(), + static_cast(0)); + EXPECT_TRUE(controller->active_goal_ == true); + EXPECT_TRUE(count == 0); + // Make sure endtime matches end time trajectory for each joint + for (unsigned int i = 0; i < joint_names.size(); ++i) + { + EXPECT_TRUE(controller->cur_traj_[i].endTime() == 3.0); + } + // We expect active_pid_ to be false, because we havn't configured any gains + EXPECT_TRUE(controller->active_pid_ == false); + + nlohmann::json gains = { + { "shoulder_pan_joint", { { "p", 5 }, { "i", 0.05 }, { "d", 0.1 }, { "i_clamp", 1 }, { "velocity_ff", 0.5 } } }, + { "shoulder_lift_joint", { { "p", 5 }, { "i", 0.05 }, { "d", 0.1 }, { "i_clamp", 1 }, { "velocity_ff", 0.5 } } }, + { "elbow_joint", { { "p", 5 }, { "i", 0.05 }, { "d", 0.1 }, { "i_clamp", 1 }, { "velocity_ff", 0.5 } } }, + { "wrist_1_joint", { { "p", 5 }, { "i", 0.05 }, { "d", 0.1 }, { "i_clamp", 1 }, { "velocity_ff", 0.5 } } }, + { "wrist_2_joint", { { "p", 5 }, { "i", 0.05 }, { "d", 0.1 }, { "i_clamp", 1 }, { "velocity_ff", 0.5 } } }, + { "wrist_3_joint", { { "p", 5 }, { "i", 0.05 }, { "d", 0.1 }, { "i_clamp", 1 }, { "velocity_ff", 0.5 } } } + }; + ; + + controller->async_set_gains(gains); + Sleep(500000000); // give time to set configuration + controller->initTrajectory(trajectory); + + // We now expect active_pid_ to be true + EXPECT_TRUE(controller->active_pid_ == true); + + // Test that ff_term is set correctly + for (unsigned int i = 0; i < joint_names.size(); ++i) + { + LOG_INFO("ff_term %f", controller->ff_term_[i]); + EXPECT_TRUE(controller->ff_term_[i] == 0.5); + } + + app.stopBlocking(); +} + +TEST(ScaledMultiJointController, ControlPeriodTest) +{ + alice::Application app; + + // Setup nodes + auto controller_node = app.createMessageNode("controller"); + auto controller = controller_node->addComponent(); + + auto kinematic_tree_node = app.createMessageNode("kinematic"); + auto kinematic_tree = kinematic_tree_node->addComponent("kinematic_tree"); + + auto planner_node = app.createMessageNode("planner"); + auto planner = planner_node->addComponent(); + + auto robot_state_node = app.createMessageNode("robotState"); + auto robot_state = robot_state_node->addComponent(); + + // Setup configuration + kinematic_tree_node->start_order = -100; + kinematic_tree->async_set_kinematic_file("apps/assets/kinematic_trees/ur10.kinematic.json"); + + controller->async_set_tick_period("100Hz"); + controller->async_set_kinematic_tree("kinematic"); + + planner->async_set_tick_period("10Hz"); + planner->async_set_send_trajectory(true); + + robot_state->async_set_tick_period("100Hz"); + + // Setup communication + Connect(planner->tx_trajectory(), controller->rx_plan()); + Connect(robot_state->tx_robot_state(), controller->rx_current_arm_state()); + + app.runAsync(); + Sleep(500000000); // give time to start application + + double expected_period = 0.01; + double uptime, period; + double abs = 0.001; + + uptime = controller->controller_uptime_; + period = controller->period_; + + EXPECT_NEAR(expected_period, period, abs); + // When the speed isn't scaled we expect controller_uptime and tick_time to be equal + EXPECT_NEAR(uptime, controller->tick_time_, abs); + + robot_state->async_set_speed_fraction(0.5); + + Sleep(500000000); + expected_period = 0.01 * 0.5; + period = controller->period_; + uptime = controller->controller_uptime_; + + EXPECT_NEAR(expected_period, period, abs); + EXPECT_LT(uptime, controller->tick_time_); + + robot_state->async_set_speed_fraction(0.7); + + Sleep(500000000); + expected_period = 0.01 * 0.7; + period = controller->period_; + uptime = controller->controller_uptime_; + + EXPECT_NEAR(expected_period, period, abs); + EXPECT_LT(uptime, controller->tick_time_); + + app.stopBlocking(); +} + +TEST(ScaledMultiJointController, PlanParserTest) +{ + alice::Application app; + + // Setup nodes + auto controller_node = app.createMessageNode("controller"); + auto controller = controller_node->addComponent(); + + auto kinematic_tree_node = app.createMessageNode("kinematic"); + auto kinematic_tree = kinematic_tree_node->addComponent("kinematic_tree"); + + auto planner_node = app.createMessageNode("planner"); + auto planner = planner_node->addComponent(); + + // Setup configuration + kinematic_tree_node->start_order = -100; + kinematic_tree->async_set_kinematic_file("apps/assets/kinematic_trees/ur10.kinematic.json"); + + controller->async_set_tick_period("100Hz"); + controller->async_set_kinematic_tree("kinematic"); + + planner->async_set_tick_period("10Hz"); + + // Setup communication + Connect(planner->tx_trajectory(), controller->rx_plan()); + + app.runAsync(); + Sleep(500000000); // give time to start application + + // Make sure that we can parse messages based upon interpolation scheme. + controller->async_set_interpolation_scheme(InterpolationScheme::linear_interpolation); + planner->initLinearSchema(); + planner->async_set_send_trajectory(true); + + Sleep(500000000); // Wait for message to be received + EXPECT_TRUE(controller->succesful_plan_parse_); + + controller->async_set_interpolation_scheme(InterpolationScheme::cubic_interpolation); + planner->initCubcicSchema(); + planner->async_set_send_trajectory(true); + + Sleep(500000000); // Wait for message to be received + EXPECT_TRUE(controller->succesful_plan_parse_); + + controller->async_set_interpolation_scheme(InterpolationScheme::quintic_interpolation); + planner->initQuinticSchema(); + planner->async_set_send_trajectory(true); + + Sleep(500000000); // Wait for message to be received + EXPECT_TRUE(controller->succesful_plan_parse_); + + planner->initInvalidSchema(); + planner->async_set_send_trajectory(true); + + Sleep(500000000); // Wait for message to be received + EXPECT_FALSE(controller->succesful_plan_parse_); + + app.stopBlocking(); +} + +TEST(ScaledMultiJointController, jointCommandTest) +{ + // First app publishes joint positions as commands + alice::Application first_app; + + // Setup nodes + auto controller_node = first_app.createMessageNode("controller"); + auto controller = controller_node->addComponent(); + + auto kinematic_tree_node = first_app.createMessageNode("kinematic"); + auto kinematic_tree = kinematic_tree_node->addComponent("kinematic_tree"); + + auto planner_node = first_app.createMessageNode("planner"); + auto planner = planner_node->addComponent(); + + auto joint_command_node = first_app.createMessageNode("joint_command"); + auto joint_command = joint_command_node->addComponent(); + + auto robot_state_node = first_app.createMessageNode("robotState"); + auto robot_state = robot_state_node->addComponent(); + + // Setup configuration + kinematic_tree_node->start_order = -100; + kinematic_tree->async_set_kinematic_file("apps/assets/kinematic_trees/ur10.kinematic.json"); + + controller->async_set_tick_period("100Hz"); + controller->async_set_kinematic_tree("kinematic"); + + planner->async_set_tick_period("10Hz"); + planner->async_set_send_trajectory(true); + + joint_command->async_set_tick_period("10Hz"); + + robot_state->async_set_tick_period("100Hz"); + + // Setup communication + Connect(planner->tx_trajectory(), controller->rx_plan()); + Connect(robot_state->tx_robot_state(), controller->rx_current_arm_state()); + Connect(controller->tx_joint_command(), joint_command->rx_joint_command()); + + first_app.enableStopOnTimeout(0.2); + first_app.runBlocking(); + + // Second app publishes joint speeds as commands + alice::Application second_app; + + // Setup nodes + controller_node = second_app.createMessageNode("controller"); + controller = controller_node->addComponent(); + + kinematic_tree_node = second_app.createMessageNode("kinematic"); + kinematic_tree = kinematic_tree_node->addComponent("kinematic_tree"); + + planner_node = second_app.createMessageNode("planner"); + planner = planner_node->addComponent(); + + joint_command_node = second_app.createMessageNode("joint_command"); + joint_command = joint_command_node->addComponent(); + + robot_state_node = second_app.createMessageNode("robotState"); + robot_state = robot_state_node->addComponent(); + + // Setup configuration + kinematic_tree_node->start_order = -100; + kinematic_tree->async_set_kinematic_file("apps/assets/kinematic_trees/ur10.kinematic.json"); + + controller->async_set_tick_period("100Hz"); + controller->async_set_kinematic_tree("kinematic"); + controller->async_set_control_mode(ArmControlMode::kJointSpeed); + + planner->async_set_tick_period("10Hz"); + planner->async_set_send_trajectory(true); + + joint_command->async_set_tick_period("10Hz"); + joint_command->async_set_control_mode(ArmControlMode::kJointSpeed); + + robot_state->async_set_tick_period("100Hz"); + + // Setup communication + Connect(planner->tx_trajectory(), controller->rx_plan()); + Connect(robot_state->tx_robot_state(), controller->rx_current_arm_state()); + Connect(controller->tx_joint_command(), joint_command->rx_joint_command()); + + second_app.enableStopOnTimeout(0.2); + second_app.runBlocking(); +} + +} // namespace ur_controller +} // namespace isaac + +ISAAC_ALICE_REGISTER_CODELET(isaac::ur_controller::PublishPlan); +ISAAC_ALICE_REGISTER_CODELET(isaac::ur_controller::PublishRobotState); +ISAAC_ALICE_REGISTER_CODELET(isaac::ur_controller::ReceiveJointCommand); \ No newline at end of file diff --git a/ur_msg/BUILD b/ur_msg/BUILD new file mode 100644 index 0000000..ee1f354 --- /dev/null +++ b/ur_msg/BUILD @@ -0,0 +1,40 @@ +load("@com_nvidia_isaac_engine//engine/build:cc_capnp_library.bzl", "cc_capnp_library") +load("@com_nvidia_isaac_engine//bzl:isaac_engine.bzl", "isaac_cc_library") +load("//bzl:pybind.bzl", "pybind_library") + +cc_capnp_library( + name = "speed_slider_proto", + protos = [ + "speed_slider.capnp" + ], +) + +cc_capnp_library( + name = "dashboard_command_proto", + protos = [ + "dashboard_command.capnp" + ], +) + +isaac_cc_library( + name = "dashboard_command", + srcs = [ + "dashboardCommand.cpp" + ], + hdrs = [ + "dashboardCommand.hpp" + ], + visibility = ["//visibility:public"], + deps = [ + ":dashboard_command_proto", + "@com_nvidia_isaac_engine//engine/core", + ], +) + +py_library( + name = "ur_msg_python", + srcs = [ + "ur_msg_python.py" + ], + visibility = ["//visibility:public"] +) \ No newline at end of file diff --git a/ur_msg/README.md b/ur_msg/README.md new file mode 100644 index 0000000..3189081 --- /dev/null +++ b/ur_msg/README.md @@ -0,0 +1,628 @@ +# UR message + +This folder contains messages developed specific to the **Universal_Robots_Isaac_Driver**. +The folder contains: + +- **dashboard_command** Consist of two messages. One used to send dashboard commands +to the codelet **DashboardClientIsaac**. And one to receive the status of the command. + +- **dashboardCommand** Helper functions to translate the dashboard commands from +an enum in capnp format to a C++ enum. + +- **speed_slider** Consist of a message to set the actual value of the speedslider. + +- **ur_msg_python** The file contains Python functionality to use ur_msg inside +Python application, see documentation for [ur_msg in python](#UR-message-in-Python) +and [DashboardClientIsaac in Python](#DashboardClientIsaac-usage-in-python). + +## Messages + +The different messages are described here: + +### DashboardCommandProto + +For documentation on the dashboard server see [e-series](https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/) +and [cb3](https://www.universal-robots.com/articles/ur/dashboard-server-cb-series-port-29999/) + +```capnp +# A message to represent all dashboard commands available +# For documentation about the dashboard server see +# - https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/ +# - https://www.universal-robots.com/articles/ur/dashboard-server-cb-series-port-29999/ +struct DashboardCommandProto +{ + # Enum holding all dashboard commands available. + enum DashboardCommand + { + load @0; # Load program + play @1; # Play program + stop @2; # Stop program + pause @3; # Pause program + quit @4; # Disconnect client + shutdown @5; # Shut down robot + running @6; # Programm running? + robotmode @7; # Current robot mode + getLoadedProgram @8; # Returns loaded program + popup @9; # Show popup + closePopup @10; # Close popup + addToLog @11; # Add message to log + isProgramSaved @12; # Is current program saved? + programState @13; # Returns current program state + polyscopeVersion @14; # Polyscope version number + setOperationalMode @15; # Set operational mode + getOperationalMode @16; # Returns curretn operationalmode + clearOperationalMode @17; # Dashboard server no longer controls operational mode + powerOn @18; # Power on robot + powerOff @19; # Power down robot + brakeRelease @20; # Brake release + safetystatus @21; # Current safety status + unlockProtectiveStop @22; # Unlocks protective stop + closeSafetyPopup @23; # Close safety popup + loadInstallation @24; # Load installation + restartSafety @25; # Restart safety + isInRemoteControl @26; # Returns remote control status + getSerialNumber @27; # Returns serial number + getRobotModel @28; # Returns robot model + safetymode @29; # Current safetymode + setUserRole @30; # Setting user role + getUserRole @31; # Get current user role + } + + # The request/command to send to the dashboardserver. + dashboardRequest @0: DashboardCommand; + + # Possible argument to the dashboard command can be empty. + argument @1: Text = ""; +} + +``` + +### DashboardCommandStatusProto + +```capnp +# A message to represent the status of a dashboard command. +struct DashboardCommandStatusProto { + + # The anwser from the dashboard server. + anwser @0: Text; + + # Returns whether the command was a succes or not. + succes @1: Bool; +} +``` + +### SpeedSliderProto + +```capnp +# Message to set the actual value of the speedslider. Values should be between +# 0 and 1. Only set this smaller than 1 if you are using the scaledMultiJointController +# or you know what you're doing. Using this with another controller might lead to +unexpected behaviors. +struct SpeedSliderProto { + # The speed slider value + speedSliderValue @0 : Float32; +} +``` + +## UR message usage + +The following documentation shows how to use ur messages in your applications. + +### UR message in C++ + +To use UR messages in C++ applications, we need to use the ur message inside +codelets. UR messages can be used in the same way as regular Isaac messages. +See Isaac documentation on [sending messages](https://docs.nvidia.com/isaac/isaac/doc/tutorials/ping.html#sending-messages) +and [receiving messages](https://docs.nvidia.com/isaac/isaac/doc/tutorials/ping.html#receiving-messages) + +### UR message in Python + +Since support for Python is in an experimental state in Isaac, support for the ur_msg +in Python is also in an experimental state. Therefore things might change in the +future. Isaac supports interacting with a running application in Python, +which the below examples uses. + +To use UR messages in a Python application two functions has been created, which +can be found in *ur_msg_python.py*. The function *create_ur_msg* are used to +create a message which can be published to a specific channel in a Python application. +The function *get_ur_msg* can be used to create a wrapper for a recieved ur_message +in a Python application. + +See the following example on how to send and receive UR messages in a Python application. +The examples uses the [drivers subgraph](../ur_robot_driver/apps/ur_eseries_robot.subgraph.json) +from ur_robot_driver. + +Start by creating a folder inside `isaac/sdk/packages` to store the codelet. All +the following files, should be created inside this folder. + +```bash +$ mkdir ~/isaac/sdk/packages/ur_msg_example +``` + +Next we need to create a file to store our Python application. Create a file called +`ur_msg_example.py` and copy the content below into it. + +```Python +import time +from packages.universal_robots.ur_msg.ur_msg_python import create_ur_msg, get_ur_msg + +from packages.pyalice import Application + +app = Application(name="Sample ur message") + +app.load("packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json", prefix="ur") + +# Remember to set the robots IP address +ur_driver = app.nodes["ur.universal_robots"]["UniversalRobots"] +ur_driver.config.robot_ip = "192.168.56.1" + +app.start() + +# Make sure the driver is running +time.sleep(5) + +# Publish ur message (SpeedSliderProto) +speed_fraction = 0.5 +speed_fraction_msg = create_ur_msg("SpeedSliderProto") +speed_fraction_msg.proto.speedSliderValue = speed_fraction +app.publish("ur.subgraph", "interface", "set_speed_slider", speed_fraction_msg) + +# Publish ur message (DashboardCommandProto) +dashboard_msg = create_ur_msg("DashboardCommandProto") +dashboard_msg.proto.dashboardRequest = "popup" +dashboard_msg.proto.argument = "This is a popup message" +app.publish("ur.subgraph", "interface", "dashboard_command", dashboard_msg) + +# Sleep before receiving anwser +time.sleep(1) + +# Receive ur message (DashboardCommandStatusProto) +dashboard_anwser = app.receive("ur.subgraph", "interface", "dashboard_anwser") +if dashboard_anwser is not None: + ur_msg = get_ur_msg(dashboard_anwser) + print(ur_msg.anwser) + print(ur_msg.success) + +app.stop() +``` + +**NOTE** Remember to update the robot_ip to the IP address on which the Isaac driver +can reach the robot. + +Lastly we need to create the build file. Create a file called `BUILD` and copy the +content below into it. + +```bazel +load("//bzl:py.bzl", "isaac_py_app") + +isaac_py_app( + name = "ur_msg_example", + srcs = ["ur_msg_example.py"], + data = [ + "//apps/assets/kinematic_trees", + "//packages/universal_robots/ur_robot_driver/apps:ur_eseries_robot_subgraph", + "//packages/universal_robots/ur_robot_driver/apps:ur_cb3_robot_subgraph", + "//packages/universal_robots/ur_msg:ur_msg_python" + ], + modules = [ + "planner", + "universal_robots", + ], + deps = [ + "//packages/pyalice", + ], +) +``` + +Now you can run the application inside the `~/isaac/sdk/` folder by typing: + +```bash +$ bazel run packages/ur_msg_example:ur_msg_example +``` + +This should open a popup message on the teach pendant, and you should also see the +speed slider is set to 50%. + +## DashboardClientIsaac usage + +To use the dashboard command messages created in this folder a codelet named DashboardClientIsaac +has been created to serve as an interface between the dashboard server on the robot +and an Isaac aplication. This is created in order to use the robot in an Isaac application +without interacting with the teach pendant. Documentation on DashboardClientIsaac +codelet can be found [here](../ur_robot_driver/doc/component_api.md#DashboardClientIsaac). + +This serves as a documentation on how to use the DashboardclientIsaac in an +application. It comes with some examples on how to use the DashboardClientIsaac +in C++ applications and in Python applications. + +See the [message documentation](#DashboardCommandProto), for documentation on all +the dashboard commands available. + +### DashboardClientIsaac usage in C++ + +Since the DashboardClientIsaac is a C++ codetlet it can be used as any other codelet +in your application. See Isaac documentation on [developing codelets](https://docs.nvidia.com/isaac/isaac/doc/tutorials/ping.html#) +and on [understanding codelets](https://docs.nvidia.com/isaac/isaac/doc/engine/components.html). + +Communicating with the DashboardClientIsaac codelet inside C++ codelets. can be +done in the same way as communications between other C++ codelets. See Isaac documentation +on [sending messages](https://docs.nvidia.com/isaac/isaac/doc/tutorials/ping.html#sending-messages) +and [receiving messages](https://docs.nvidia.com/isaac/isaac/doc/tutorials/ping.html#receiving-messages). + +The below example shows how to create a small codelet that can communicate with +the DashboardClientIsaac codelet. It will send a dashboard command and then afterwards +receive the anwser from the command and then the codelet will report success. This +example makes use of the [drivers subgraph](../ur_robot_driver/apps/ur_eseries_robot.subgraph.json) +from ur_robot_driver. + +Start by creating a folder inside `isaac/sdk/packages` to store the codelet. All +the following files, should be created inside this folder. + +```bash +$ mkdir ~/isaac/sdk/packages/dashboard_example +``` + +Next we want to create the header file for the codelet. Create a file called `DashboardExample.hpp` +and copy the content below into it. + +```c++ +#pragma once +#include "engine/alice/alice_codelet.hpp" +#include "packages/universal_robots/ur_msg/dashboard_command.capnp.h" +#include "packages/universal_robots/ur_msg/dashboardCommand.hpp" + +namespace isaac +{ +namespace dashboard_example +{ + +class DashboardExample : public isaac::alice::Codelet { +public: + void start() override; + void tick() override; + + // Publish the dashboard command + ISAAC_PROTO_TX(DashboardCommandProto, dashboard_command); + + // Channel to receive the anwser from the dashbordserver + ISAAC_PROTO_RX(DashboardCommandStatusProto, dashboard_anwser); + + bool command_published_; + std::optional message_time_; +}; +} +} +ISAAC_ALICE_REGISTER_CODELET(isaac::dashboard_example::DashboardExample); +``` + +Next we want to create the cpp file for the codelet. Create a file called `DashboardExample.cpp` +and copy the content below into it. + +```c++ +#include "DashboardExample.hpp" + +namespace isaac +{ +namespace dashboard_example +{ +void DashboardExample::start() +{ + command_published_ = false; + tickPeriodically(); +} + +void DashboardExample::tick() +{ + if (!command_published_ && getTickTime() > 5.0) + { + // Make sure that we dont collect and old message as the anwser + if (rx_dashboard_anwser().available()) + { + message_time_ = rx_dashboard_anwser().acqtime(); + } + // Publish popup command + auto proto_sender = tx_dashboard_command().initProto(); + proto_sender.setDashboardRequest(dashboard_command::ToProto(dashboard_command::DashboardCommand::popup)); + proto_sender.setArgument("This message is added from an Isaac application"); + + tx_dashboard_command().publish(); + command_published_ = true; + } + + // Receive anwser from dashboard server + if (command_published_ && rx_dashboard_anwser().available()) + { + if (!message_time_ || rx_dashboard_anwser().acqtime() > *message_time_) + { + auto proto = rx_dashboard_anwser().getProto(); + LOG_INFO("Received anwser: %s", proto.getAnwser().cStr()); + LOG_INFO("The command was a succes? %i", proto.getSuccess()); + reportSuccess(); + } + } +} + +} +} +``` + +Next we need to create our application JSON file. Create a file called `dashboard_example.app.json` +and copy the content below into it. + +```JSON +{ + "name": "dashboard_example", + "modules": [ + "//packages/dashboard_example:dashboard_example_components" + ], + "graph": { + "nodes": [ + { + "name": "ur_driver", + "subgraph": "packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json" + }, + { + "name": "dashboard_example", + "components": [ + { + "name": "MessageLedger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "DashboardExample", + "type": "isaac::dashboard_example::DashboardExample" + } + ] + } + ], + "edges": [ + { + "source": "ur_driver.subgraph/interface/dashboard_anwser", + "target": "dashboard_example/DashboardExample/dashboard_anwser" + }, + { + "source": "dashboard_example/DashboardExample/dashboard_command", + "target": "ur_driver.subgraph/interface/dashboard_command" + } + ] + }, + "config": { + "dashboard_example": { + "DashboardExample": { + "tick_period": "10Hz" + } + }, + "ur_driver.universal_robots": { + "UniversalRobots": { + "robot_ip": "192.168.56.1" + } + } + } +} +``` + +**NOTE** Remember to update the robot_ip to the IP address on which the Isaac driver +can reach the robot + +Lastly we need to create the build file. Create a file called `BUILD` and copy the +content below into it. + +```bazel +load("//bzl:module.bzl", "isaac_app", "isaac_cc_module") + +isaac_cc_module( + name = "dashboard_example_components", + srcs = [ + "DashboardExample.cpp" + ], + hdrs = [ + "DashboardExample.hpp" + ], + deps = [ + "//packages/universal_robots/ur_msg:dashboard_command", + "//packages/universal_robots/ur_msg:dashboard_command_proto", + ] +) + +isaac_app( + name = "dashboard_example", + data = [ + "//packages/universal_robots/ur_robot_driver/apps:ur_eseries_robot_subgraph" + ], + modules = [ + "//packages/dashboard_example:dashboard_example_components", + ] +) +``` + +Now you can run the application inside the `~/isaac/sdk/` folder by typing: + +```bash +$ bazel run packages/dashboard_example:dashboard_example +``` + +You should now see a popup message on the teach pendant with the message `This message +is added from an Isaac application`. + +This is just a quick example on how to use the DashboardClientIsaac, but serves +as inspiration on how to use DashboardClientIsaac to interact with the robot +without interacting with the teach pendant. + +### DashboardClientIsaac usage in python + +Since support for Python is in an experimental state in Isaac, support for the dashboardClientIsaac +in Python is also in an experimental state. Therefore things might change in the +future. Isaac supports interacting with a running application in Python, +which the below examples uses. + +To use the DashboardClientIsaac Python and to be able to send and receive dashboard +commands, some additional functionality has been created, which can be found in *ur_msg_python.py*. +The function *do_dashboard_command* can be used to execute a dashboard command and +returns the anwser from the command, or None if no anwser was received. + +See the following examples on how to communicate with the dashboard server in a running +application in Python. The examples uses the [drivers subgraph](../ur_robot_driver/apps/ur_eseries_robot.subgraph.json) +from ur_robot_driver. + +If you haven't created the dashboard_example folder, go ahead and create it. + +```bash +$ mkdir ~/isaac/sdk/packages/dashboard_example +``` + +Next we need to create a file to store our Python application. Create a file called +`py_dashboard_example.py` and copy the content below into it. + +```Python +import time +from packages.pyalice import Application +from packages.universal_robots.ur_msg.ur_msg_python import do_dashboard_command + +app = Application(name="Sample dashboard client") + +app.load("packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json", prefix="ur") + +# Remember to set the robots IP address +ur_driver = app.nodes["ur.universal_robots"]["UniversalRobots"] +ur_driver.config.robot_ip = "192.168.56.1" + +app.start() + +# Make sure the driver is running +time.sleep(5) + +anwser = do_dashboard_command(app, "popup", arguments="This message is added from an Isaac application") +if anwser is not None: + print(anwser.anwser) + print(anwser.success) + +# We can also power on the robot +anwser = do_dashboard_command(app, "powerOn") +if anwser is not None: + print(anwser.anwser) + print(anwser.success) + +app.stop() +``` + +**NOTE** Remember to update the robot_ip to the IP address on which the Isaac driver +can reach the robot. + +If you haven't already created the build file. Go ahead and create a file called +`BUILD` and copy the content below into it else just copy the content below into +the already created build file. + +```bazel +load("//bzl:py.bzl", "isaac_py_app") + +isaac_py_app( + name = "py_dashboard_example", + srcs = ["py_dashboard_example.py"], + data = [ + "//apps/assets/kinematic_trees", + "//packages/universal_robots/ur_robot_driver/apps:ur_eseries_robot_subgraph", + "//packages/universal_robots/ur_robot_driver/apps:ur_cb3_robot_subgraph", + "//packages/universal_robots/ur_msg:ur_msg_python" + ], + modules = [ + "planner", + "universal_robots", + ], + deps = [ + "//packages/pyalice", + ], +) +``` + +Now you can run the application inside the `~/isaac/sdk/` folder by typing: + +```bash +$ bazel run packages/dashboard_example:py_dashboard_example +``` + +You should now see a popup message on the teach pendant with the message `This message +is added from an Isaac application`. + +The below example can be used to power on a robot and playing the currently loaded +program right after starting your application. You can copy the content below into +`py_dashboard_example.py` to use this example. + +```Python +import time +from packages.pyalice import Application +from packages.universal_robots.ur_msg.ur_msg_python import do_dashboard_command + +app = Application(name="Sample dashboard client") + +app.load("packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json", prefix="ur") + +# Remember to set the robots IP address +ur_driver = app.nodes["ur.universal_robots"]["UniversalRobots"] +ur_driver.config.robot_ip = "192.168.56.1" + +app.start() + +# Make sure the driver is running +time.sleep(5) + +# The following can be used make sure the robot is powered on. +anwser = do_dashboard_command(app, "powerOn") +if anwser is not None: + print(anwser.anwser) + print(anwser.success) + +robot_mode = do_dashboard_command(app, "robotmode") +timeout = 10.0 +wait_time = 0.0 +while wait_time < timeout: + robot_mode = do_dashboard_command(app, "robotmode") + if robot_mode is not None: + if robot_mode.anwser == "Robotmode: IDLE" or robot_mode.anwser == "Robotmode: RUNNING": + break + + time.sleep(0.1) + wait_time += 0.1 + +# Now we can brakerelease the robot +anwser = do_dashboard_command(app, "brakeRelease") +if anwser is not None: + print(anwser.anwser) + print(anwser.success) + +robot_mode = do_dashboard_command(app, "robotmode") +timeout = 10.0 +wait_time = 0.0 +while wait_time < timeout: + robot_mode = do_dashboard_command(app, "robotmode") + if robot_mode is not None and robot_mode.anwser == "Robotmode: RUNNING": + break + + time.sleep(0.1) + wait_time += 0.1 + +time.sleep(1) + +# Now we can play the currently loaded robot program +anwser = do_dashboard_command(app, "play") +if anwser is not None: + print(anwser.anwser) + print(anwser.success) + +app.stop() +``` + +**NOTE** Remember to update the robot_ip to the IP address on which the Isaac driver +can reach the robot. + +Now you can run the application inside the `~/isaac/sdk/` folder by typing: + +```bash +$ bazel run packages/dashboard_example:py_dashboard_example +``` + +After running the above example the robot should be powered on and the currently +loaded program should start playing. + +This is just a quick example on how to use the DashboardClientIsaac, but serves +as inspiration on how to use DashboardClientIsaac to interact with the robot +without interacting with the teach pendant. diff --git a/ur_msg/dashboardCommand.cpp b/ur_msg/dashboardCommand.cpp new file mode 100644 index 0000000..e5d009b --- /dev/null +++ b/ur_msg/dashboardCommand.cpp @@ -0,0 +1,185 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include "dashboardCommand.hpp" +#include "engine/core/assert.hpp" + +namespace isaac +{ +namespace dashboard_command +{ +DashboardCommand FromProto(const ::DashboardCommandProto::DashboardCommand command) +{ + switch (command) + { + case ::DashboardCommandProto::DashboardCommand::LOAD: + return DashboardCommand::load; + case ::DashboardCommandProto::DashboardCommand::PLAY: + return DashboardCommand::play; + case ::DashboardCommandProto::DashboardCommand::STOP: + return DashboardCommand::stop; + case ::DashboardCommandProto::DashboardCommand::PAUSE: + return DashboardCommand::pause; + case ::DashboardCommandProto::DashboardCommand::QUIT: + return DashboardCommand::quit; + case ::DashboardCommandProto::DashboardCommand::SHUTDOWN: + return DashboardCommand::shutdown; + case ::DashboardCommandProto::DashboardCommand::RUNNING: + return DashboardCommand::running; + case ::DashboardCommandProto::DashboardCommand::ROBOTMODE: + return DashboardCommand::robotmode; + case ::DashboardCommandProto::DashboardCommand::GET_LOADED_PROGRAM: + return DashboardCommand::getLoadedProgram; + case ::DashboardCommandProto::DashboardCommand::POPUP: + return DashboardCommand::popup; + case ::DashboardCommandProto::DashboardCommand::CLOSE_POPUP: + return DashboardCommand::closePopup; + case ::DashboardCommandProto::DashboardCommand::ADD_TO_LOG: + return DashboardCommand::addToLog; + case ::DashboardCommandProto::DashboardCommand::IS_PROGRAM_SAVED: + return DashboardCommand::isProgramSaved; + case ::DashboardCommandProto::DashboardCommand::PROGRAM_STATE: + return DashboardCommand::programState; + case ::DashboardCommandProto::DashboardCommand::POLYSCOPE_VERSION: + return DashboardCommand::polyscopeVersion; + case ::DashboardCommandProto::DashboardCommand::SET_OPERATIONAL_MODE: + return DashboardCommand::setOperationalMode; + case ::DashboardCommandProto::DashboardCommand::GET_OPERATIONAL_MODE: + return DashboardCommand::getOperationalMode; + case ::DashboardCommandProto::DashboardCommand::CLEAR_OPERATIONAL_MODE: + return DashboardCommand::clearOperationalMode; + case ::DashboardCommandProto::DashboardCommand::POWER_ON: + return DashboardCommand::powerOn; + case ::DashboardCommandProto::DashboardCommand::POWER_OFF: + return DashboardCommand::powerOff; + case ::DashboardCommandProto::DashboardCommand::BRAKE_RELEASE: + return DashboardCommand::brakeRelease; + case ::DashboardCommandProto::DashboardCommand::SAFETYSTATUS: + return DashboardCommand::safetystatus; + case ::DashboardCommandProto::DashboardCommand::UNLOCK_PROTECTIVE_STOP: + return DashboardCommand::unlockProtectiveStop; + case ::DashboardCommandProto::DashboardCommand::CLOSE_SAFETY_POPUP: + return DashboardCommand::closeSafetyPopup; + case ::DashboardCommandProto::DashboardCommand::LOAD_INSTALLATION: + return DashboardCommand::loadInstallation; + case ::DashboardCommandProto::DashboardCommand::RESTART_SAFETY: + return DashboardCommand::restartSafety; + case ::DashboardCommandProto::DashboardCommand::IS_IN_REMOTE_CONTROL: + return DashboardCommand::isInRemoteControl; + case ::DashboardCommandProto::DashboardCommand::GET_SERIAL_NUMBER: + return DashboardCommand::getSerialNumber; + case ::DashboardCommandProto::DashboardCommand::GET_ROBOT_MODEL: + return DashboardCommand::getRobotModel; + case ::DashboardCommandProto::DashboardCommand::SAFETYMODE: + return DashboardCommand::safetymode; + case ::DashboardCommandProto::DashboardCommand::SET_USER_ROLE: + return DashboardCommand::setUserRole; + case ::DashboardCommandProto::DashboardCommand::GET_USER_ROLE: + return DashboardCommand::getUserRole; + default: + PANIC("Unknown command %x", command); + } +} + +::DashboardCommandProto::DashboardCommand ToProto(const DashboardCommand command) +{ + switch (command) + { + case DashboardCommand::load: + return ::DashboardCommandProto::DashboardCommand::LOAD; + case DashboardCommand::stop: + return ::DashboardCommandProto::DashboardCommand::STOP; + case DashboardCommand::play: + return ::DashboardCommandProto::DashboardCommand::PLAY; + case DashboardCommand::pause: + return ::DashboardCommandProto::DashboardCommand::PAUSE; + case DashboardCommand::quit: + return ::DashboardCommandProto::DashboardCommand::QUIT; + case DashboardCommand::shutdown: + return ::DashboardCommandProto::DashboardCommand::SHUTDOWN; + case DashboardCommand::running: + return ::DashboardCommandProto::DashboardCommand::RUNNING; + case DashboardCommand::robotmode: + return ::DashboardCommandProto::DashboardCommand::ROBOTMODE; + case DashboardCommand::getLoadedProgram: + return ::DashboardCommandProto::DashboardCommand::GET_LOADED_PROGRAM; + case DashboardCommand::popup: + return ::DashboardCommandProto::DashboardCommand::POPUP; + case DashboardCommand::closePopup: + return ::DashboardCommandProto::DashboardCommand::CLOSE_POPUP; + case DashboardCommand::addToLog: + return ::DashboardCommandProto::DashboardCommand::ADD_TO_LOG; + case DashboardCommand::isProgramSaved: + return ::DashboardCommandProto::DashboardCommand::IS_PROGRAM_SAVED; + case DashboardCommand::programState: + return ::DashboardCommandProto::DashboardCommand::PROGRAM_STATE; + case DashboardCommand::polyscopeVersion: + return ::DashboardCommandProto::DashboardCommand::POLYSCOPE_VERSION; + case DashboardCommand::setOperationalMode: + return ::DashboardCommandProto::DashboardCommand::SET_OPERATIONAL_MODE; + case DashboardCommand::getOperationalMode: + return ::DashboardCommandProto::DashboardCommand::GET_OPERATIONAL_MODE; + case DashboardCommand::clearOperationalMode: + return ::DashboardCommandProto::DashboardCommand::CLEAR_OPERATIONAL_MODE; + case DashboardCommand::powerOn: + return ::DashboardCommandProto::DashboardCommand::POWER_ON; + case DashboardCommand::powerOff: + return ::DashboardCommandProto::DashboardCommand::POWER_OFF; + case DashboardCommand::brakeRelease: + return ::DashboardCommandProto::DashboardCommand::BRAKE_RELEASE; + case DashboardCommand::safetystatus: + return ::DashboardCommandProto::DashboardCommand::SAFETYSTATUS; + case DashboardCommand::unlockProtectiveStop: + return ::DashboardCommandProto::DashboardCommand::UNLOCK_PROTECTIVE_STOP; + case DashboardCommand::closeSafetyPopup: + return ::DashboardCommandProto::DashboardCommand::CLOSE_SAFETY_POPUP; + case DashboardCommand::loadInstallation: + return ::DashboardCommandProto::DashboardCommand::LOAD_INSTALLATION; + case DashboardCommand::restartSafety: + return ::DashboardCommandProto::DashboardCommand::RESTART_SAFETY; + case DashboardCommand::isInRemoteControl: + return ::DashboardCommandProto::DashboardCommand::IS_IN_REMOTE_CONTROL; + case DashboardCommand::getSerialNumber: + return ::DashboardCommandProto::DashboardCommand::GET_SERIAL_NUMBER; + case DashboardCommand::getRobotModel: + return ::DashboardCommandProto::DashboardCommand::GET_ROBOT_MODEL; + case DashboardCommand::safetymode: + return ::DashboardCommandProto::DashboardCommand::SAFETYMODE; + case DashboardCommand::setUserRole: + return ::DashboardCommandProto::DashboardCommand::SET_USER_ROLE; + case DashboardCommand::getUserRole: + return ::DashboardCommandProto::DashboardCommand::GET_USER_ROLE; + default: + PANIC("Unknown command %x", command); + } +} + +} // namespace dashboard_command +} // namespace isaac \ No newline at end of file diff --git a/ur_msg/dashboardCommand.hpp b/ur_msg/dashboardCommand.hpp new file mode 100644 index 0000000..8a89dca --- /dev/null +++ b/ur_msg/dashboardCommand.hpp @@ -0,0 +1,98 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#pragma once + +#include + +#include "packages/universal_robots/ur_msg/dashboard_command.capnp.h" + +namespace isaac +{ +namespace dashboard_command +{ +/*! + * \brief Enum holding all dashboard commands available. + * For documentation about the dashboardserver see + * - https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/ + * - https://www.universal-robots.com/articles/ur/dashboard-server-cb-series-port-29999/ + */ +enum class DashboardCommand +{ + load, // Load program + play, // Play program + stop, // Stop program + pause, // Pause program + quit, // Disconnect client + shutdown, // Shut down robot + running, // Programm running? + robotmode, // Current robot mode + getLoadedProgram, // Returns loaded program + popup, // Show popup + closePopup, // Close popup + addToLog, // Add message to log + isProgramSaved, // Is current program saved? + programState, // Returns current program state + polyscopeVersion, // Polyscope version number + setOperationalMode, // Set operational mode + getOperationalMode, // Returns curretn operationalmode + clearOperationalMode, // Dashboard server no longer controls operational mode + powerOn, // Power on robot + powerOff, // Power down robot + brakeRelease, // Brake release + safetystatus, // Current safetystatus + unlockProtectiveStop, // Unlocks protective stop + closeSafetyPopup, // Close safety popup + loadInstallation, // Load installation + restartSafety, // Restart safety + isInRemoteControl, // Returns remote control status + getSerialNumber, // Returns serial number + getRobotModel, // Returns robot model + safetymode, // Current safetymode + setUserRole, // Set User role + getUserRole, // Get current user role +}; + +/*! + * \brief Parses command in proto message to a dashboardCommand. + * + * \param command Proto command. + */ +DashboardCommand FromProto(const ::DashboardCommandProto::DashboardCommand command); + +/*! + * \brief Creates type of command for Proto message + * + * \param command DashboardCommand. + */ +::DashboardCommandProto::DashboardCommand ToProto(const DashboardCommand command); + +} // namespace dashboard_command +} // namespace isaac \ No newline at end of file diff --git a/ur_msg/dashboard_command.capnp b/ur_msg/dashboard_command.capnp new file mode 100644 index 0000000..3475a39 --- /dev/null +++ b/ur_msg/dashboard_command.capnp @@ -0,0 +1,91 @@ +# -- BEGIN LICENSE BLOCK ---------------------------------------------- +# Copyright 2021 Universal Robots A/S +# +# 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. + +# All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +# Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +# OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +# NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +# MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +# CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +# OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +# USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +# Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +# appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +# published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +# in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +# please contact legal@universal-robots.com. +# -- END LICENSE BLOCK ------------------------------------------------ + +@0xfe6f9cc1919289ad; + +# A message to represent all dashboard commands available +# For documentation about the dashboard server see +# - https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/ +# - https://www.universal-robots.com/articles/ur/dashboard-server-cb-series-port-29999/ +struct DashboardCommandProto +{ + # Enum holding all dashboard commands available. + enum DashboardCommand + { + load @0; # Load program + play @1; # Play program + stop @2; # Stop program + pause @3; # Pause program + quit @4; # Disconnect client + shutdown @5; # Shut down robot + running @6; # Programm running? + robotmode @7; # Current robot mode + getLoadedProgram @8; # Returns loaded program + popup @9; # Show popup + closePopup @10; # Close popup + addToLog @11; # Add message to log + isProgramSaved @12; # Is current program saved? + programState @13; # Returns current program state + polyscopeVersion @14; # Polyscope version number + setOperationalMode @15; # Set operational mode + getOperationalMode @16; # Returns curretn operationalmode + clearOperationalMode @17; # Dashboard server no longer controls operational mode + powerOn @18; # Power on robot + powerOff @19; # Power down robot + brakeRelease @20; # Brake release + safetystatus @21; # Current safety status + unlockProtectiveStop @22; # Unlocks protective stop + closeSafetyPopup @23; # Close safety popup + loadInstallation @24; # Load installation + restartSafety @25; # Restart safety + isInRemoteControl @26; # Returns remote control status + getSerialNumber @27; # Returns serial number + getRobotModel @28; # Returns robot model + safetymode @29; # Current safetymode + setUserRole @30; # Setting user role + getUserRole @31; # Get current user role + } + + # The request/command to send to the dashboardserver. + dashboardRequest @0: DashboardCommand; + + # Possible argument to the dashboard command can be empty. + argument @1: Text = ""; +} + +# A message to represent the status of a dashboard command. +struct DashboardCommandStatusProto +{ + # The anwser from the dashboard server. + anwser @0: Text; + + # Returns whether the command was a succes or not. + success @1: Bool; +} \ No newline at end of file diff --git a/ur_msg/speed_slider.capnp b/ur_msg/speed_slider.capnp new file mode 100644 index 0000000..8dbf8db --- /dev/null +++ b/ur_msg/speed_slider.capnp @@ -0,0 +1,39 @@ +# -- BEGIN LICENSE BLOCK ---------------------------------------------- +# Copyright 2021 Universal Robots A/S +# +# 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. + +# All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +# Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +# OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +# NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +# MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +# CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +# OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +# USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +# Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +# appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +# published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +# in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +# please contact legal@universal-robots.com. +# -- END LICENSE BLOCK ------------------------------------------------ + +@0x94c62233ca62cd8b; + +# Message to set the actual value of the speedslider. Values should be between +# 0 and 1. Only set this smaller than 1 if you are using the scaledMultiJointController +# or you know what you're doing. Using this with another controller might lead to unexpected behaviors. +struct SpeedSliderProto { + # The speed slider value + speedSliderValue @0 : Float32; +} \ No newline at end of file diff --git a/ur_msg/ur_msg_python.py b/ur_msg/ur_msg_python.py new file mode 100644 index 0000000..8a5c45a --- /dev/null +++ b/ur_msg/ur_msg_python.py @@ -0,0 +1,74 @@ +import glob +import capnp +import time +from packages.pyalice import Message + +def create_ur_msg_dictornary(): + """Load all the capnp'n'proto schemata in the ur_msg folder. The function will glob through all the + files with "*.capnp" extension name.""" + ur_msg_capnp_dict = {} + ur_msg_ur_capnp_files = glob.glob("packages/universal_robots/ur_msg/*.capnp") + for ur_msg_capnp_file in ur_msg_ur_capnp_files: + module = capnp.load(ur_msg_capnp_file) + for name, obj in module.__dict__.items(): + if obj.__class__.__name__ == "_StructModule": + ur_msg_capnp_dict[name] = obj + + return ur_msg_capnp_dict + +def ur_capnp_schema_type_id_dict(): + """Creates a dictionary which maps Capn'proto type ids to class schemata.""" + ur_msg_capnp_files = glob.glob("packages/universal_robots/ur_msg/*.capnp") + + result = {} + for ur_msg_capnp_f in ur_msg_capnp_files: + module = capnp.load(ur_msg_capnp_f) + for name, obj in module.__dict__.items(): + if obj.__class__.__name__ == "_StructModule": + assert name not in result + result[obj.schema.node.id] = obj + + return result + +UR_MSG_CAPNP_DICT = create_ur_msg_dictornary() +UR_MSG_CAPNP_TYPE_ID_DICT = ur_capnp_schema_type_id_dict() + +def create_ur_msg(msg_type): + """Creates a proto message for populating and publishing from specified proto name.""" + msg = Message.MessageBuilder() + msg.proto = UR_MSG_CAPNP_DICT[msg_type].new_message() + return msg + +def get_ur_msg(msg): + """Creates a wrapper for received message.""" + data = msg._message.get_capn_proto_bytes() + if data: + msg._proto = UR_MSG_CAPNP_TYPE_ID_DICT[msg.type_id].from_bytes(data) + return msg._proto + +def do_dashboard_command(app, command, arguments="", node="ur.subgraph", component="interface", timeout=5): + """Execute a dashboard command and waits for the result. + Returns None if no result could be received within timeout.""" + + dashboard_msg = create_ur_msg("DashboardCommandProto") + dashboard_msg.proto.dashboardRequest = command + dashboard_msg.proto.argument = arguments + cur_time = app.clock.time * 1000000000 # Turn into nano seconds + app.publish(node, component, "dashboard_command", dashboard_msg) + + # wait for a new message + wait_time = 0.0 + msg = None + while wait_time < timeout: + msg = app.receive(node, component, "dashboard_anwser") + if msg is not None and cur_time < msg.pubtime: + break + time.sleep(0.1) + wait_time += 0.1 + + if msg is None: + app.logger.warning("Failed to receive anwser from DashboardClientIsaac") + return None + + dc_response = get_ur_msg(msg) + return dc_response \ No newline at end of file diff --git a/ur_robot_driver/CHANGELOG.rst b/ur_robot_driver/CHANGELOG.rst deleted file mode 100644 index bb2ab23..0000000 --- a/ur_robot_driver/CHANGELOG.rst +++ /dev/null @@ -1,22 +0,0 @@ -0.0.3 (2019-08-09) ------------------- -* Added a service to end ROS control from ROS side -* Publish IO state on ROS topics -* Added write channel through RTDE with speed slider and IO services -* Added subscriber to send arbitrary URScript commands to the robot - -0.0.2 (2019-07-03) ------------------- -* Fixed dependencies and installation -* Updated README -* Fixed passing parameters through launch files -* Added support for correctly switching controllers during runtime and using the standard - joint_trajectory_controller -* Updated externalcontrol URCap to version 1.0.2 - + Fixed Script timeout when running the URCap inside of a looping tree - + Fixed a couple of typos -* Increased minimal required UR software version to 3.7/5.1 - -0.0.1 (2019-06-28) ------------------- -Initial release diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt deleted file mode 100644 index 7ccd3cb..0000000 --- a/ur_robot_driver/CMakeLists.txt +++ /dev/null @@ -1,66 +0,0 @@ -cmake_minimum_required(VERSION 2.8.12) -project(ur_robot_driver) - -#add_definitions( -DROS_BUILD ) - -if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE) - message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.") - set(CMAKE_BUILD_TYPE RelWithDebInfo) -endif() - -find_package(Boost REQUIRED) - -# check c++11 / c++0x -include(CheckCXXCompilerFlag) -check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11) -check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X) -if(COMPILER_SUPPORTS_CXX11) - add_compile_options(-std=c++11) -elseif(COMPILER_SUPPORTS_CXX0X) - add_compile_options(-std=c++0x) -else() - message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ") -endif() - -add_compile_options(-Wall) -add_compile_options(-Wextra) -add_compile_options(-Wno-unused-parameter) - - -include_directories( - include - ${Boost_INCLUDE_DIRS} -) - -add_library(ur_robot_driver - src/comm/tcp_socket.cpp - src/comm/server.cpp - src/primary/primary_package.cpp - src/primary/robot_message.cpp - src/primary/robot_message/version_message.cpp - src/primary/robot_state/kinematics_info.cpp - src/rtde/control_package_pause.cpp - src/rtde/control_package_setup_inputs.cpp - src/rtde/control_package_setup_outputs.cpp - src/rtde/control_package_start.cpp - src/rtde/data_package.cpp - src/rtde/get_urcontrol_version.cpp - src/rtde/request_protocol_version.cpp - src/rtde/rtde_package.cpp - src/rtde/text_message.cpp - src/rtde/rtde_client.cpp - src/ur/ur_driver.cpp - src/ur/calibration_checker.cpp - src/ur/dashboard_client.cpp - src/ur/tool_communication.cpp - src/rtde/rtde_writer.cpp -) -target_link_libraries(ur_robot_driver) -#add_dependencies(ur_robot_driver ${${PROJECT_NAME}_EXPORTED_TARGETS}) - -#install(TARGETS ur_robot_driver -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -#) - diff --git a/ur_robot_driver/DashboardClientIsaac.cpp b/ur_robot_driver/DashboardClientIsaac.cpp new file mode 100644 index 0000000..59d02df --- /dev/null +++ b/ur_robot_driver/DashboardClientIsaac.cpp @@ -0,0 +1,314 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include + +#include "DashboardClientIsaac.hpp" +#include "UrclLogHandler.hpp" + +namespace isaac +{ +namespace ur_driver +{ +void DashboardClientIsaac::start() +{ + registerUrclLogHandler(); + + const auto robot_ip = try_get_robot_ip(); + if (!robot_ip) + { + reportFailure("No IP address was specified unable to start driver"); + return; + } + + dc_client_.reset(new urcl::DashboardClient(get_robot_ip())); + dc_client_->connect(); + + getVersion(); + + // Setup tick + tickOnMessage(rx_dashboard_command()); +} + +void DashboardClientIsaac::tick() +{ + // Receive and execute dashboard command + auto proto = rx_dashboard_command().getProto(); + dashboard_command::DashboardCommand command = dashboard_command::FromProto(proto.getDashboardRequest()); + Response resp = handleCommand(command, proto.getArgument()); + + // Publish anwser + auto proto_sender = tx_dashboard_anwser().initProto(); + proto_sender.setAnwser(resp.anwser); + proto_sender.setSuccess(resp.success); + tx_dashboard_anwser().publish(); +} + +void DashboardClientIsaac::stop() +{ + dc_client_->disconnect(); + dc_client_.reset(); +} + +DashboardClientIsaac::Response DashboardClientIsaac::handleCommand(const dashboard_command::DashboardCommand& command, + const std::string& argument) +{ + switch (command) + { + case dashboard_command::DashboardCommand::load: + return executeCommand("load " + argument + "\n", "Loading program: (.*)"); + case dashboard_command::DashboardCommand::stop: + return executeCommand("stop\n", "Stopped"); + case dashboard_command::DashboardCommand::play: + return executeCommand("play\n", "Starting program"); + case dashboard_command::DashboardCommand::pause: + return executeCommand("pause\n", "Pausing program"); + case dashboard_command::DashboardCommand::quit: + return executeCommand("quit\n", "Disconnected"); + case dashboard_command::DashboardCommand::shutdown: + return executeCommand("shutdown\n", "Shutting down"); + case dashboard_command::DashboardCommand::running: + return executeCommand("running\n", "Program running: (.*)"); + case dashboard_command::DashboardCommand::robotmode: + return executeCommand("robotmode\n", "Robotmode: (.*)"); + case dashboard_command::DashboardCommand::getLoadedProgram: + return executeCommand("get loaded program\n", "Loaded program: (.*)"); + case dashboard_command::DashboardCommand::popup: + return executeCommand("popup " + argument + "\n", "showing popup"); + case dashboard_command::DashboardCommand::closePopup: + return executeCommand("close popup\n", "closing popup"); + case dashboard_command::DashboardCommand::addToLog: + return executeCommand("addToLog " + argument + "\n", "(Added log message|No log message to add)"); + case dashboard_command::DashboardCommand::isProgramSaved: + return executeCommand("isProgramSaved\n", "(true|false) (.*)"); + case dashboard_command::DashboardCommand::programState: + return executeCommand("programState\n", "(STOPPED|PLAYING|PAUSED) (.*)"); + case dashboard_command::DashboardCommand::polyscopeVersion: + return executeCommand("PolyscopeVersion\n", "URSoftware (.*)"); + case dashboard_command::DashboardCommand::setOperationalMode: + if (major_version_ >= 5) + { + return executeCommand("set operational mode " + argument + "\n", "Operational mode ('manual'|'automatic') is " + "set"); + } + else + { + Response resp; + resp.anwser = "Command not supported for current software version: major " + std::to_string(major_version_) + + " minor " + std::to_string(minor_version_); + resp.success = false; + return resp; + } + case dashboard_command::DashboardCommand::getOperationalMode: + if (major_version_ == 5 && minor_version_ >= 6) + { + return executeCommand("get operational mode\n", "(MANUAL|AUTOMATIC|NONE)"); + } + else + { + Response resp; + resp.anwser = "Command not supported for current software version: major " + std::to_string(major_version_) + + " minor " + std::to_string(minor_version_); + resp.success = false; + return resp; + } + case dashboard_command::DashboardCommand::clearOperationalMode: + if (major_version_ == 5) + { + return executeCommand("clear operational mode\n", "No longer controlling the operational mode. (.*)"); + } + else + { + Response resp; + resp.anwser = "Command not supported for current software version: major " + std::to_string(major_version_) + + " minor " + std::to_string(minor_version_); + resp.success = false; + return resp; + } + case dashboard_command::DashboardCommand::powerOn: + return executeCommand("power on\n", "Powering on"); + case dashboard_command::DashboardCommand::powerOff: + return executeCommand("power off\n", "Powering off"); + case dashboard_command::DashboardCommand::brakeRelease: + return executeCommand("brake release\n", "Brake releasing"); + case dashboard_command::DashboardCommand::safetystatus: + if (major_version_ == 5 && minor_version_ >= 4) + { + return executeCommand("safetystatus\n", "Safetystatus: (.*)"); + } + else + { + Response resp; + resp.anwser = "Command not supported for current software version: major " + std::to_string(major_version_) + + " minor " + std::to_string(minor_version_); + resp.success = false; + return resp; + } + case dashboard_command::DashboardCommand::unlockProtectiveStop: + return executeCommand("unlock protective stop\n", "Protective stop releasing"); + case dashboard_command::DashboardCommand::closeSafetyPopup: + return executeCommand("close safety popup\n", "closing safety popup"); + case dashboard_command::DashboardCommand::loadInstallation: + return executeCommand("load installation " + argument + "\n", "Loading installation: (.*)"); + case dashboard_command::DashboardCommand::restartSafety: + return executeCommand("restart safety\n", "Restarting safety"); + case dashboard_command::DashboardCommand::isInRemoteControl: + if (major_version_ == 5 && minor_version_ >= 6) + { + return executeCommand("is in remote control\n", "(true|false)"); + } + else + { + Response resp; + resp.anwser = "Command not supported for current software version: major " + std::to_string(major_version_) + + " minor " + std::to_string(minor_version_); + resp.success = false; + return resp; + } + case dashboard_command::DashboardCommand::getSerialNumber: + if ((major_version_ == 5 && minor_version_ >= 6) || (major_version_ == 3 && minor_version_ >= 12)) + { + return executeCommand("get serial number\n", "\\d+"); + } + else + { + Response resp; + resp.anwser = "Command not supported for current software version: major " + std::to_string(major_version_) + + " minor " + std::to_string(minor_version_); + resp.success = false; + return resp; + } + case dashboard_command::DashboardCommand::getRobotModel: + if ((major_version_ == 5 && minor_version_ >= 6) || (major_version_ == 3 && minor_version_ >= 12)) + { + return executeCommand("get robot model\n", "(UR3|UR5|UR10|UR16)"); + } + else + { + Response resp; + resp.anwser = "Command not supported for current software version: major " + std::to_string(major_version_) + + " minor " + std::to_string(minor_version_); + resp.success = false; + return resp; + } + case dashboard_command::DashboardCommand::safetymode: + return executeCommand("safetymode\n", "Safetymode: (.*)"); + case dashboard_command::DashboardCommand::setUserRole: + if (major_version_ == 3) + { + return executeCommand("setUserRole " + argument + "\n", "Setting user role: (.*)"); + } + else + { + Response resp; + resp.anwser = "Command not supported for current software version: major " + std::to_string(major_version_) + + " minor " + std::to_string(minor_version_); + resp.success = false; + return resp; + } + case dashboard_command::DashboardCommand::getUserRole: + if (major_version_ == 3) + { + return executeCommand("getUserRole\n", "(PROGRAMMER|OPERATOR|NONE|LOCKED|RESTRICTED)"); + } + else + { + Response resp; + resp.anwser = "Command not supported for current software version: major " + std::to_string(major_version_) + + " minor " + std::to_string(minor_version_); + resp.success = false; + return resp; + } + default: + PANIC("Unknown command %x", command); + } +} + +DashboardClientIsaac::Response DashboardClientIsaac::executeCommand(const std::string& command, + const std::string& expected) +{ + Response resp; + if (dc_client_->getState() == urcl::comm::SocketState::Connected) + { + resp.anwser = dc_client_->sendAndReceive(command); + resp.success = std::regex_match(resp.anwser, std::regex(expected)); + } + else + { + LOG_INFO("reconnecting"); + if (dc_client_->connect()) + { + resp.anwser = dc_client_->sendAndReceive(command); + resp.success = std::regex_match(resp.anwser, std::regex(expected)); + } + else + { + resp.anwser = "failed to connect to dashboard server, unable to send command"; + resp.success = false; + } + } + return resp; +} + +void DashboardClientIsaac::getVersion() +{ + std::smatch match; + std::string anwser = dc_client_->sendAndReceive("PolyscopeVersion\n"); + std::regex_search(anwser, match, std::regex("\\d+\\.\\d+\\.\\d+\\.\\d+")); + if (match.empty()) + { + reportFailure("Unable to get polyscope version"); + } + + const std::regex base_regex("\\d+"); + std::smatch base_match; + if (std::regex_search(anwser, base_match, base_regex)) + { + major_version_ = std::atoi(base_match[0].str().c_str()); + anwser = base_match.suffix(); + } + else + { + reportFailure("Unable to get major version"); + } + + if (std::regex_search(anwser, base_match, base_regex)) + { + minor_version_ = std::atoi(base_match[0].str().c_str()); + anwser = base_match.suffix(); + } + else + { + reportFailure("Unable to get minor version"); + } +} + +} // namespace ur_driver +} // namespace isaac \ No newline at end of file diff --git a/ur_robot_driver/DashboardClientIsaac.hpp b/ur_robot_driver/DashboardClientIsaac.hpp new file mode 100644 index 0000000..a21fb36 --- /dev/null +++ b/ur_robot_driver/DashboardClientIsaac.hpp @@ -0,0 +1,130 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#pragma once + +#include "engine/alice/alice_codelet.hpp" +#include "ur_client_library/ur/dashboard_client.h" +#include "packages/universal_robots/ur_msg/dashboardCommand.hpp" +#include "packages/universal_robots/ur_msg/dashboard_command.capnp.h" + +namespace isaac +{ +namespace ur_driver +{ +/*! + * \brief The dashboardClientIsaac class is the interface between the dashboardserver and an Isaac application. + * Almost all the dashboard commands can be sent through this codelet to the dashboardserver and this codelet, + * will return the anwser to the application. + */ + +class DashboardClientIsaac : public isaac::alice::Codelet +{ +public: + /*! + * \brief Handles the setup functionality of this class. This includes setting up dashboardclient object. + */ + void start() override; + /*! + * \brief This functions is run when a new message is received. It sends the dashboard command to the dashboard server + * receives the anwser and publishing the anwser to the application. + */ + void tick() override; + + /*! + * \brief Disconnects from the dashboard server + */ + void stop() override; + + /*! + * \brief Receiving the dashboard command, which is forwarded to the dashboard server. + */ + ISAAC_PROTO_RX(DashboardCommandProto, dashboard_command); + + /*! + * \brief Channel to publish the anwser from the dashbordserver and whether the command was a success. + */ + ISAAC_PROTO_TX(DashboardCommandStatusProto, dashboard_anwser); + + /*! + * \brief The ip address of the robot. + */ + ISAAC_PARAM(std::string, robot_ip); + +private: + /*! + * \brief Struct representing the anwser from the dasboardserver. + * + * \param anwser String storing the anwser from the dashboardserver. + * \param success Representing if the command was a success. + */ + struct Response + { + std::string anwser; + bool success; + }; + + /*! + * \brief Handles the dashboard command, by changing the command with the correct string, + * that is then send to the dashboardserver. + * + * \param command Dashboard command + * \param argument argument to the dashboard command. + */ + Response handleCommand(const dashboard_command::DashboardCommand& command, const std::string& argument); + + /*! + * \brief Sends the command to dashboard server and receives the anwser. + * It matches the anwser with the expected anwser, to see if the command was a success. + * + * \param command The string command to send. + * \param expected The expected anwser as a string. + */ + Response executeCommand(const std::string& command, const std::string& expected); + + /*! + * \brief Used to retrieve polyscope version, in order to make sure commands that is not available in current version + * arent't executed. + */ + void getVersion(); + + // Dashboardclient object. + std::unique_ptr dc_client_; + + int major_version_; + int minor_version_; + + bool initialized_; +}; + +} // namespace ur_driver +} // namespace isaac + +ISAAC_ALICE_REGISTER_CODELET(isaac::ur_driver::DashboardClientIsaac) \ No newline at end of file diff --git a/ur_robot_driver/LICENSE b/ur_robot_driver/LICENSE deleted file mode 100644 index c35b007..0000000 --- a/ur_robot_driver/LICENSE +++ /dev/null @@ -1,180 +0,0 @@ -Copyright 2019 FZI Forschungszentrum Informatik - - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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In no event and under no legal theory, - whether in tort (including negligence), contract, or otherwise, - unless required by applicable law (such as deliberate and grossly - negligent acts) or agreed to in writing, shall any Contributor be - liable to You for damages, including any direct, indirect, special, - incidental, or consequential damages of any character arising as a - result of this License or out of the use or inability to use the - Work (including but not limited to damages for loss of goodwill, - work stoppage, computer failure or malfunction, or any and all - other commercial damages or losses), even if such Contributor - has been advised of the possibility of such damages. - - 9. Accepting Warranty or Additional Liability. While redistributing - the Work or Derivative Works thereof, You may choose to offer, - and charge a fee for, acceptance of support, warranty, indemnity, - or other liability obligations and/or rights consistent with this - License. However, in accepting such obligations, You may act only - on Your own behalf and on Your sole responsibility, not on behalf - of any other Contributor, and only if You agree to indemnify, - defend, and hold each Contributor harmless for any liability - incurred by, or claims asserted against, such Contributor by reason - of your accepting any such warranty or additional liability. - - END OF TERMS AND CONDITIONS - - diff --git a/ur_robot_driver/README.md b/ur_robot_driver/README.md index 0529c9e..7d87669 100644 --- a/ur_robot_driver/README.md +++ b/ur_robot_driver/README.md @@ -1,57 +1,169 @@ -# ur_robot_driver +# ur_robot_driver -This package contains the actual driver for UR robots. It is part of the *universal_robots_driver* -repository and requires other packages from that repository. Also, see the [main repository's -README](../README.md) for information on how to install and startup this driver. +This package contains the actual driver for UR robots. It is part of the +**Universal_Robots_Isaac_Driver** repository and requires other packages from that +repository. Also, see the [main repository's README](../README.md) for information +on how to setup and startup +this driver. -## ROS-API -The ROS API is documented in a [standalone document](doc/ROS_INTERFACE.md). It is auto-generated -using [catkin_doc](https://github.com/fzi-forschungszentrum-informatik/catkin_doc). +## Isaac API + +This folder comes with 2 codelets: + +- **UniversalRobots** The UniversalRobots codelet handles the interface between +an Isaac application and the main driver, which can be found in the +[client library](https://github.com/UniversalRobots/Universal_Robots_Client_Library). +It is publishing actual robot and IO state and receiving IO and arm commands. + +- **DashboardClientIsaac** The dashboardClientIsaac class is an interface between +the dashboardserver on the robot and an Isaac application. This codelet is started +through the UniversalRobots codelet. For further details on how to use it [see documentation](../ur_msg/README.md#DashboardClientIsaac-usage). + +The components are further documented in a [standalone document](doc/component_api.md) +together with other components from this repository. + +### Subgraph + +This driver comes with 2 subgraphs, which sets up all the nescarry parts to use the +driver in an application. + +- One subgraph for the [e-series robots](apps/ur_eseries_robot.subgraph.json) + +- One subgraph for the [cb3 robots](apps/ur_cb3_robot.subgraph.json) + +These subgraphs integrates +[UniversalRobots](UniversalRobots.hpp), [DashboardClientIsaac](DashboardClientIsaac.hpp) +[ScaledMultiJointController](../ur_controller/ScaledMultiJointController.hpp), +[MultiJointLqrPlanner](https://docs.nvidia.com/isaac/isaac/doc/doc/component_api.html#isaac-planner-multijointplanner) +and [KinematicTree](https://docs.nvidia.com/isaac/isaac/doc/doc/component_api.html#isaac-map-kinematictree) +components. The subgraphs provides the following interface edges: + +- **joint_target(input)**: "subgraph/interface/joint_target" + +- **stop_control(input)**: "subgraph/interface/stop_control" + +- **set_speed_slider(input)**: "subgraph/interface/set_speed_slider" + +- **io_command(input)**: "subgraph/interface/io_command" + +- **resend_control_script(input)**: "subgraph/interface/resend_control_script" + +- **dashboard_command(input)**: "subgraph/interface/dashboard_command" + +- **dashboard_anwser(output)**: "subgraph/interface/dashboard_anwser" + +- **io_state(output)**: "subgraph/interface/io_state" + +- **arm_state(output)**: "subgraph/interface/arm_state" + +- **robot_program_running(output)**: "subgraph/interface/robot_program_running" + +- **trajectory_executed_succesfully(output)**: "subgraph/interface/trajectory_executed_succesfully" + +### Kinematic tree + +Isaac SDK uses [kinematic trees](https://docs.nvidia.com/isaac/isaac/doc/manipulation/kinematics.html) +to represent robot arms inside Isaac application. Currently there is only a kinematic +tree representation of a UR10 robot. It can be found in Isaac SDK folder in +`"apps/assets/kinematic_trees/ur_10.kinematic.json"`. + +When using [MultiJointLqrPlanner](https://docs.nvidia.com/isaac/isaac/doc/doc/component_api.html#isaac-planner-multijointplanner) +all calculation are done in the joint space, meaning no kinematics calculation are +applied. Then it's fine to use this file for all UR robot sizes. + +It is recommended to update the kinematic file before applying forward or inverse +kinematics calculation. ## Technical details -The following image shows a very coarse overview of the driver's architecture. + +The following image shows a very coarse overview of the drivers architecture: ![Architecture overview](doc/architecture_coarse.svg "Architecture overview") -Upon connection to the primary interface the robot sends version and calibration information which -is consumed by the *calibration_check*. If the calibration reported by the robot doesn't match the -one configured (See [calibration guide](../ur_calibration/README.md)) an error will be printed to Roslog. - -Real-time data from the robot is read through the RTDE interface. This is done automatically as soon -as a connection to the robot could be established. Thus joint states and IO data will be immediately -available. - -To actually control the robot, a program node from the **External Control** URCap must be running on -the robot interpreting commands sent from an external source. When this program is not running, no -controllers moving the robot around will be available, which is handled by the -[controller_stopper](../controller_stopper/README.md). Please see the [initial setup -guide](../README.md) on how to install and start this on the robot. - -The URScript that will be running on the robot is requested by the **External Control** program node -from the remote ROS PC. The robot *ur_control.launch* file has a parameter called `urscript_file` to -select a different program than the default one that will be sent as a response to a program -request. - -**Custom script snippets** can be sent to the robot on a topic basis. By default, they will -interrupt other programs (such as the one controlling the robot). For a certain subset of functions, -it is however possible to send them as secondary programs. See [UR -documentation](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/secondary-program-17257/) -on details. -
-**Note to e-Series users:** -The robot won't accept script code from a remote source unless the robot is put into -*remote_control-mode*. However, if put into *remote_control-mode*, the program containing the -**External Control** program node can't be started from the panel. -For this purpose, please use the **dashboard** services to load, start and stop the main program -running on the robot. See the [ROS-API documentation](doc/ROS_INTERFACE.md) for details on the -dashboard services. - -For using the **tool communication interface** on e-Series robots, a `socat` script is prepared to -forward the robot's tool communication interface to a local device on the ROS PC. See [the tool -communication setup guide](doc/setup_tool_communication.md) for details. - -This driver is using [ROS-Control](https://wiki.ros.org/ros_control) for any control statements. -Therefor, it can be used with all position-based controllers available in ROS-Control. However, we -recommend using the controllers from the `ur_controllers` package. See it's -[documentation](../ur_controllers/README.md) for details. **Note: Speed scaling support will only be -available using the controllers from `ur_controllers`** +The calibration check is not implemented yet. So for now an error will be printed +to the log upon startup. + +Real-time data from the robot is read through the RTDE interface. This is done +automatically as soon as a connection to the robot could be established. Thus joint +states and IO data will be immediately available. + +To actually control the robot, a program node from the **External Control** URCap +must be running on the robot interpreting commands sent from an external source. +When this program is not running, no controller moving the robot around will be +available, which is handled by the [controller_stopper](../controller_stopper/README.md). +Please see the [initial setup guide](../README.md) on how to install and start the +URCap on the robot. + +The URScript that will be running on the robot is requested by the **External Control** +program node from the remote ROS PC. A parameter **control_script_program** can +be used to select a different program than the default one that will be sent as +a response to a program request. + +This driver is using [Manipulation Motion Planning](https://docs.nvidia.com/isaac/isaac/doc/manipulation/motion_planning.html) +for any control statements. Therefor, it can be used with all manipulation controllers +available in Isaac SDK. However, we recommend using the controller from the `ur_controller` +package. See it's [documentation](../ur_controllers/README.md) for details. **Note: +Speed scaling support will only be available using the controller from `ur_controller`** + +## A note about modes + +The term **mode** is used in different meanings inside this driver. + +### Remote control mode + +On the e-series the robot itself can operate in different command modes: It can +be either in **local control mode** where the teach pendant is the single point +of command or in **remote control mode**, where motions from the TP, starting & +loading programs from the TP activating the freedrive mode are blocked. Note that +the **remote control mode** has to be explicitly enabled in the robot's settings +under **Settings** -> **System** -> **Remote Control**. See the robot's manual for +details. + +The **remote control mode** is needed for many aspects of this driver such as + +- headless mode (see below) + +- many dashboard functionalities such as: + + - Powering on the robot and doing brake release + + - Loading and starting programs + +### Headless mode + +Inside this driver, there's the **headless** mode, which can be either enabled or +not. When the headless mode is activated, required script +code for external control will be sent to the robot directly when the driver starts. +As soon as other script code is sent to the robot, the script will be overwritten +by this action and has to be restarted by sending a signal to [resend_robot_program](./doc/component_api.md) +channel. If this is necessary, you will see the output `Connection to robot dropped, +waiting for new connection.` from the driver. Note that pressing "play" on the TP +won't start the external control again, but whatever program is currently loaded +on the controller. This mode doesn't require the "External Control" URCap being +installed on the robot as the program is sent to the robot directly. However, we +recommend to use the non-headless mode. The **headless** mode might be removed +in future releases. + +**Note for the e-Series:** In order to leverage the **headless** mode on the e-Series +the robot must be in **remote_control_mode** as explained above. + +## Log handler + +The C++ client library comes with its own logging interface. To adjust that logging +interface to make use of Isaac logging a LogHandler has been created. +The `UrclLogHandler` handles messages logged in the C++ client library with Isaac +logging. This loghandler is automatically configured in `UniversalRobots` and `DashboardClientIsaac`. + +If you are to use the client library in another node in Isaac, below example can +be used to register the loghandler and set the loglevel: + +```c++ +#include "UrclLogHandler.hpp" + +int main(int argc, char* argv[]) +{ + // Initialize UrclLogHandler + urcl::setLogLevel(urcl::LogLevel::DEBUG); + isaac::ur_driver::registerUrclLogHandler(); +} +``` diff --git a/UniversalRobots.cpp b/ur_robot_driver/UniversalRobots.cpp similarity index 53% rename from UniversalRobots.cpp rename to ur_robot_driver/UniversalRobots.cpp index 65ff376..adc04a0 100644 --- a/UniversalRobots.cpp +++ b/ur_robot_driver/UniversalRobots.cpp @@ -28,16 +28,19 @@ // please contact legal@universal-robots.com. // -- END LICENSE BLOCK ------------------------------------------------ -#include "ur_robot_driver/rtde/get_urcontrol_version.h" -#include "ur_robot_driver/rtde/data_package.h" +#include "ur_client_library/rtde/get_urcontrol_version.h" +#include "ur_client_library/rtde/data_package.h" #include "UniversalRobots.hpp" - -#include "engine/gems/kinematic_tree/kinematic_tree.hpp" +#include "packages/universal_robots/controller_stopper/ControllerStopper.hpp" #include "packages/map/KinematicTree.hpp" +#include "engine/alice/backend/backend.hpp" +#include "engine/alice/backend/node_backend.hpp" +#include "UrclLogHandler.hpp" +#include "DashboardClientIsaac.hpp" namespace isaac { -namespace universal_robots +namespace ur_driver { namespace { @@ -46,10 +49,21 @@ constexpr int kNumJoints = 6; // number of joints void UniversalRobots::handle_program_state(bool program_running) { + if (program_running && robot_program_running_ == false) + { + trajectory_reset_necessary_ = true; + } + robot_program_running_ = program_running; + publish_program_state_ = true; } void UniversalRobots::start() { + // Initialize UrclLogHandler and set loglevel + registerUrclLogHandler(); + urcl::setLogLevel(urcl::LogLevel::INFO); + logger::SetSeverity(logger::Severity::INFO); + // Try to get the map::KinematicTree component const auto maybe_kinematic_tree_node = try_get_kinematic_tree(); if (!maybe_kinematic_tree_node) @@ -72,35 +86,86 @@ void UniversalRobots::start() return; } + // Try to get the controller node + const auto controller_node_name = try_get_controller(); + if (!controller_node_name) + { + reportFailure("Controller node is not specified."); + return; + } + initControllerStopper(*controller_node_name); + + const auto robot_ip = try_get_robot_ip(); + if (!robot_ip) + { + reportFailure("No IP address was specified unable to start driver"); + return; + } + LOG_INFO("Connecting to robot at %s", get_robot_ip().c_str()); + // Configure and start dashboard client + dashboard_client_started_ = false; + const auto dashboard_node = try_get_dashboard_client(); + if (dashboard_node) + { + LOG_INFO("Initializing dashboard client"); + const auto dashboard_component = node()->app()->getNodeComponentOrNull(*dashboard_node); + if (dashboard_component) + { + dashboard_client_ = node()->app()->findNodeByName(*dashboard_node); + dashboard_component->async_set_robot_ip(get_robot_ip()); + node()->app()->backend()->node_backend()->startNode(dashboard_client_); + dashboard_client_started_ = true; + } + else + { + LOG_WARNING("Node doesn't contain dashboard client component. Unable to start it, you wont be able to send " + "commands to the dashboard server through the application"); + } + } + // Set up driver - static const bool HEADLESS_MODE = true; + static const bool HEADLESS_MODE = get_headless_mode(); static const std::string CALIB_CHECKSUM = ""; - ur_driver = new ur_driver::UrDriver(get_robot_ip(), get_control_script_program(), get_rtde_output_recipe(), - get_rtde_input_recipe(), - std::bind(&UniversalRobots::handle_program_state, this, std::placeholders::_1), - HEADLESS_MODE, NULL, CALIB_CHECKSUM, 50001, 50002, 200, 0.03, - // true //non blocking mode - false // blocking mode - ); + LOG_INFO("Initializing ur driver"); + try + { + ur_driver_.reset(new urcl::UrDriver( + get_robot_ip(), get_control_script_program(), get_rtde_output_recipe(), get_rtde_input_recipe(), + std::bind(&UniversalRobots::handle_program_state, this, std::placeholders::_1), HEADLESS_MODE, NULL, + CALIB_CHECKSUM, 50001, 50002, get_servoj_gain(), get_servoj_lookahead_time(), false)); + } + catch (urcl::UrException& e) + { + reportFailure("failed to create ur driver object error: [%s]", e.what()); + return; + } // Init internal state initStateSchema(); initIOSchema(); + initTrajectorySchema(); initIOCommandParser(); control_mode_ = kInvalid; pausing_ramp_up_increment_ = 0.01; pausing_state_ = PausingState::RUNNING; + trajectory_reset_necessary_ = false; + publish_program_state_ = false; + robot_program_running_ = false; + runtime_state_ = static_cast(urcl::rtde_interface::RUNTIME_STATE::STOPPED); // Connect to RTDE - ur_driver->startRTDECommunication(); + ur_driver_->startRTDECommunication(); LOG_INFO("Waiting to receive the first RTDE data"); while (!updateRobotState()) ; // TODO add count limit LOG_INFO("First RTDE data received"); - RTDEMainLoopTrd = std::thread(&UniversalRobots::RTDEMainLoop, this); + rtde_main_loop_trd_ = std::thread(&UniversalRobots::RTDEMainLoop, this); + + // Set number of allowed timeout reads on the robot. + ur_driver_->setKeepaliveCount(3); // Setup tick tickPeriodically(); @@ -108,18 +173,32 @@ void UniversalRobots::start() void UniversalRobots::tick() { - if (rx_arm_command().available()) + uint32_t runtime_state; { - const int64_t time = rx_arm_command().acqtime(); - bool isFirstMessage = !last_command_time_; - bool unseenMessage = time > *last_command_time_; - if (isFirstMessage || unseenMessage) + std::lock_guard guard(runtime_mutex_); + runtime_state = runtime_state_; + } + if ((runtime_state == static_cast(urcl::rtde_interface::RUNTIME_STATE::PLAYING) || + runtime_state == static_cast(urcl::rtde_interface::RUNTIME_STATE::PAUSING)) && + robot_program_running_) + { + if (controller_node_->getStage() != alice::LifecycleStage::kStarted) { - last_command_time_ = time; - parseCommand(get_control_mode()); + // Keep the connection alive if the controller is not running + ur_driver_->writeKeepalive(); + } + else if (rx_arm_command().available()) + { + const int64_t time = rx_arm_command().acqtime(); + bool isFirstMessage = !last_command_time_; + bool unseenMessage = time > *last_command_time_; + if (isFirstMessage || unseenMessage) + { + last_command_time_ = time; + parseCommand(get_control_mode()); + } } } - if (rx_io_command().available()) { const int64_t time = rx_io_command().acqtime(); @@ -131,15 +210,56 @@ void UniversalRobots::tick() parseIOCommand(); } } - + if (rx_stop_control().available()) + { + const int64_t time = rx_stop_control().acqtime(); + bool isFirstMessage = !last_stop_control_time_; + bool unseenMessage = time > *last_stop_control_time_; + if (isFirstMessage || unseenMessage) + { + last_stop_control_time_ = time; + stopControl(); + } + } + if (rx_set_speed_slider().available()) + { + const int64_t time = rx_set_speed_slider().acqtime(); + bool isFirstMessage = !last_speed_slider_time_; + bool unseenMessage = time > *last_speed_slider_time_; + if (isFirstMessage || unseenMessage) + { + last_speed_slider_time_ = time; + setSpeedSlider(); + } + } + if (rx_resend_control_script().available()) + { + const int64_t time = rx_resend_control_script().acqtime(); + bool isFirstMessage = !last_resend_control_script_time_; + bool unseenMessage = time > *last_resend_control_script_time_; + if (isFirstMessage || unseenMessage) + { + last_resend_control_script_time_ = time; + resendControlScript(); + } + } publishState(); + if (publish_program_state_) + { + publishProgramState(); + } } void UniversalRobots::stop() { - ur_driver->stopControl(); - rtde_thread_running = false; - delete ur_driver; + if (dashboard_client_started_) + { + node()->app()->backend()->node_backend()->stopNode(dashboard_client_); + } + ur_driver_->stopControl(); + rtde_thread_running_ = false; + rtde_main_loop_trd_.join(); + ur_driver_.reset(); } bool UniversalRobots::validateKinematicTree(const kinematic_tree::KinematicTree& model) @@ -164,6 +284,21 @@ bool UniversalRobots::validateKinematicTree(const kinematic_tree::KinematicTree& return true; } +void UniversalRobots::initControllerStopper(const std::string controller_node_name) +{ + // Setup controller stopper node + alice::Node* controller_stopper_node = node()->app()->createMessageNode("controller_stopper_node"); + auto controller_stopper = controller_stopper_node->addComponent(); + controller_stopper->async_set_controller(controller_node_name); + + Connect(tx_robot_program_running(), controller_stopper->rx_robot_program_running()); + + node()->app()->backend()->node_backend()->startNode(controller_stopper_node); + + // Get the controller node, used to check if the node is running. + controller_node_ = node()->app()->getNodeByName(controller_node_name); +} + void UniversalRobots::initCommandParser(const ArmControlMode mode) { switch (mode) @@ -187,9 +322,9 @@ void UniversalRobots::initIOCommandParser() io_names, composite::Measure::kNone)); // Set to rotation so it's controllable by joint controller } -ur_driver::vector6d_t toVector6D(const VectorXd q_in) +urcl::vector6d_t toVector6D(const VectorXd q_in) { - ur_driver::vector6d_t q; + urcl::vector6d_t q; for (unsigned int i = 0; i < kNumJoints; ++i) q[i] = q_in(i); @@ -218,18 +353,12 @@ void UniversalRobots::parseCommand(const ArmControlMode mode) if (parse_success) { - ur_driver::vector6d_t q_command = toVector6D(command); - - // Show targets from command - for (unsigned int i = 0; i < q_command.size(); ++i) - { - show(joint_names_[i], q_command[i]); - } + urcl::vector6d_t q_command = toVector6D(command); if (mode == kJointPosition) - ur_driver->writeJointCommand(q_command, ur_driver::comm::ControlMode::MODE_SERVOJ); + ur_driver_->writeJointCommand(q_command, urcl::comm::ControlMode::MODE_SERVOJ); else if (mode == kJointSpeed) - ur_driver->writeJointCommand(q_command, ur_driver::comm::ControlMode::MODE_SPEEDJ); + ur_driver_->writeJointCommand(q_command, urcl::comm::ControlMode::MODE_SPEEDJ); } else { @@ -245,7 +374,7 @@ void UniversalRobots::parseIOCommand() if (parse_success) { - ur_driver::rtde_interface::RTDEWriter& rtdeWriter = ur_driver->getRTDEWriter(); + urcl::rtde_interface::RTDEWriter& rtdeWriter = ur_driver_->getRTDEWriter(); rtdeWriter.sendToolDigitalOutput(0, io_command(0) != 0.0 ? true : false); rtdeWriter.sendToolDigitalOutput(1, io_command(1) != 0.0 ? true : false); } @@ -258,10 +387,13 @@ void UniversalRobots::parseIOCommand() void UniversalRobots::initStateSchema() { std::vector quantities; + std::vector target_quantities; + // Add joint positions for (int i = 0; i < kNumJoints; i++) { quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kPosition)); + target_quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kPosition)); } // Add joint velocities @@ -277,6 +409,7 @@ void UniversalRobots::initStateSchema() // fraction state_schema_ = composite::Schema(std::move(quantities)); + target_state_schema_ = composite::Schema(std::move(target_quantities)); } void UniversalRobots::initIOSchema() @@ -302,15 +435,30 @@ void UniversalRobots::initIOSchema() io_schema_ = composite::Schema(std::move(quantities)); } +void UniversalRobots::initTrajectorySchema() +{ + std::vector quantities; + + quantities.push_back(composite::Quantity::Scalar("time", composite::Measure::kTime)); + for (unsigned int i = 0; i < kNumJoints; ++i) + { + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kPosition)); + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kSpeed)); + quantities.push_back(composite::Quantity::Scalar(joint_names_[i], composite::Measure::kAcceleration)); + } + composite::Schema schema = composite::Schema(std::move(quantities)); + trajectory_serializer_.setSchema(schema); +} + // The speed scaling is normally just the target speed fraction set by the user in // the UI multiplied with the speed scale used by the robot to comply with limits. // But in some cases (depending on robot state) the logic is a little more convoluted -bool UniversalRobots::updateSpeedScale(ur_driver::rtde_interface::DataPackage* data_pkg) +bool UniversalRobots::updateSpeedScale(urcl::rtde_interface::DataPackage* data_pkg) { bool rtde_read_succeed(false); double target_speed_fraction(0.0); double speed_scaling(0.0); - uint32_t runtime_state(0); + uint32_t runtime_state = 0; rtde_read_succeed = data_pkg->getData("target_speed_fraction", target_speed_fraction); rtde_read_succeed = data_pkg->getData("speed_scaling", speed_scaling); @@ -319,12 +467,12 @@ bool UniversalRobots::updateSpeedScale(ur_driver::rtde_interface::DataPackage* d if (rtde_read_succeed) { // pausing state follows runtime state when pausing - if (runtime_state == static_cast(ur_driver::rtde_interface::RUNTIME_STATE::PAUSED)) + if (runtime_state == static_cast(urcl::rtde_interface::RUNTIME_STATE::PAUSED)) { pausing_state_ = PausingState::PAUSED; } // When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP - else if (runtime_state == static_cast(ur_driver::rtde_interface::RUNTIME_STATE::PLAYING) && + else if (runtime_state == static_cast(urcl::rtde_interface::RUNTIME_STATE::PLAYING) && pausing_state_ == PausingState::PAUSED) { speed_scaling_combined_ = 0.0; @@ -341,7 +489,7 @@ bool UniversalRobots::updateSpeedScale(ur_driver::rtde_interface::DataPackage* d pausing_state_ = PausingState::RUNNING; } } - else if (runtime_state == static_cast(ur_driver::rtde_interface::RUNTIME_STATE::RESUMING)) + else if (runtime_state == static_cast(urcl::rtde_interface::RUNTIME_STATE::RESUMING)) { // We have to keep speed scaling during RESUMING to prevent controllers from continuing to interpolate speed_scaling_combined_ = 0.0; @@ -352,6 +500,10 @@ bool UniversalRobots::updateSpeedScale(ur_driver::rtde_interface::DataPackage* d speed_scaling_combined_ = speed_scaling * target_speed_fraction; } } + { + std::lock_guard guard(runtime_mutex_); + runtime_state_ = runtime_state; + } return rtde_read_succeed; } @@ -359,36 +511,40 @@ bool UniversalRobots::updateSpeedScale(ur_driver::rtde_interface::DataPackage* d bool UniversalRobots::updateRobotState() { bool rtde_read_succeed(false); - std::unique_ptr data_pkg; + std::unique_ptr data_pkg; - if (data_pkg = ur_driver->getDataPackage()) + if (ur_driver_) { - RobotState newState; - rtde_read_succeed = data_pkg->getData("timestamp", newState.timestamp); - rtde_read_succeed = data_pkg->getData("target_q", newState.q) && rtde_read_succeed; - rtde_read_succeed = data_pkg->getData("target_qd", newState.qd) && rtde_read_succeed; - rtde_read_succeed = - data_pkg->getData("actual_digital_input_bits", newState.actual_dig_in_bits) && rtde_read_succeed; - rtde_read_succeed = - data_pkg->getData("actual_digital_output_bits", newState.actual_dig_out_bits) && rtde_read_succeed; + if (data_pkg = ur_driver_->getDataPackage()) + { + RobotState newState; + rtde_read_succeed = data_pkg->getData("timestamp", newState.timestamp); + rtde_read_succeed = data_pkg->getData("actual_q", newState.q) && rtde_read_succeed; + rtde_read_succeed = data_pkg->getData("actual_qd", newState.qd) && rtde_read_succeed; + rtde_read_succeed = + data_pkg->getData("actual_digital_input_bits", newState.actual_dig_in_bits) && rtde_read_succeed; + rtde_read_succeed = + data_pkg->getData("actual_digital_output_bits", newState.actual_dig_out_bits) && rtde_read_succeed; - rtde_read_succeed = updateSpeedScale(data_pkg.get()) && rtde_read_succeed; + rtde_read_succeed = updateSpeedScale(data_pkg.get()) && rtde_read_succeed; - newState.speed_fraction = speed_scaling_combined_; + newState.speed_fraction = speed_scaling_combined_; - if (rtde_read_succeed) - { - std::lock_guard guard(robotStateMutex); - latestRobotState = newState; + if (rtde_read_succeed) + { + std::lock_guard guard(robot_state_mutex_); + latest_robot_state_ = newState; + } } } + return rtde_read_succeed; } void UniversalRobots::RTDEMainLoop() { - rtde_thread_running = true; - while (rtde_thread_running) + rtde_thread_running_ = true; + while (rtde_thread_running_) { updateRobotState(); } @@ -423,6 +579,12 @@ void UniversalRobots::publishRobotState(RobotState robotStateSnapshot) state_data(offset + 0) = robotStateSnapshot.timestamp; state_data(offset + 1) = robotStateSnapshot.speed_fraction; + // Show current joint position + for (unsigned int i = 0; i < kNumJoints; ++i) + { + show(joint_names_[i], state_data[i]); + } + const auto misc_names = get_misc_names(); show(misc_names[0], robotStateSnapshot.timestamp); show(misc_names[1], robotStateSnapshot.speed_fraction); @@ -433,14 +595,14 @@ void UniversalRobots::publishRobotState(RobotState robotStateSnapshot) void UniversalRobots::publishIOState(RobotState robotStateSnapshot) { - // Publish io to Isaac + // Publish IO to Isaac auto proto_builder = tx_io_state().initProto(); composite::WriteSchema(io_schema_, proto_builder); const auto io_out_names = get_tool_digital_out_names(); const auto io_in_names = get_tool_digital_in_names(); - // allocate tensor1d to store io data + // Allocate tensor1d to store io data Tensor1d io_data(io_out_names.size() + io_in_names.size()); io_data(0) = ((robotStateSnapshot.actual_dig_out_bits & 0x10000) != 0) ? 1.0 : 0.0; @@ -466,13 +628,92 @@ void UniversalRobots::publishState() { RobotState robotStateSnapshot; { - std::lock_guard guard(robotStateMutex); - robotStateSnapshot = latestRobotState; + std::lock_guard guard(robot_state_mutex_); + robotStateSnapshot = latest_robot_state_; } + if (trajectory_reset_necessary_) + { + publishJointTrajectory(robotStateSnapshot); + } publishRobotState(robotStateSnapshot); publishIOState(robotStateSnapshot); } -} // namespace universal_robots +void UniversalRobots::publishJointTrajectory(RobotState robotStateSnapshot) +{ + auto proto_builder = tx_trajectory().initProto(); + Timeseries, double> trajectory; + + // Create a trajectory that keeps the robot in the current position + for (unsigned int i = 0; i < 10; ++i) + { + Vector state; + state[0] = getTickTime() + i * 0.1; + int offset = 1; + for (unsigned int j = 0; j < kNumJoints; ++j) + { + state[offset] = robotStateSnapshot.q[j]; // position + state[offset + 1] = 0.0; // velocity + state[offset + 2] = 0.0; // acceleration + offset += 3; + } + trajectory.tryPush(state[0], state); + } + trajectory_serializer_.serialize(trajectory, composite::Quantity::Scalar("time", composite::Measure::kTime), + proto_builder, tx_trajectory().buffers()); + tx_trajectory().publish(); + trajectory_reset_necessary_ = false; +} + +void UniversalRobots::publishProgramState() +{ + auto proto = tx_robot_program_running().initProto(); + proto.setFlag(robot_program_running_); + tx_robot_program_running().publish(); + publish_program_state_ = false; +} + +void UniversalRobots::stopControl() +{ + auto proto = rx_stop_control().getProto(); + if (proto.getFlag()) + { + if (robot_program_running_) + { + ur_driver_->stopControl(); + robot_program_running_ = false; + LOG_INFO("Stopped control of robot through Isaac"); + } + else + { + LOG_INFO("No control active nothing to do"); + } + } +} + +void UniversalRobots::setSpeedSlider() +{ + auto proto = rx_set_speed_slider().getProto(); + double speed_fraction = proto.getSpeedSliderValue(); + if (speed_fraction <= 1 && speed_fraction >= 0) + { + ur_driver_->getRTDEWriter().sendSpeedSlider(speed_fraction); + } + else + { + LOG_WARNING("speed slider value should be between 0 and 1"); + } +} + +void UniversalRobots::resendControlScript() +{ + auto proto = rx_resend_control_script().getProto(); + if (proto.getFlag() && get_headless_mode()) + { + ur_driver_->sendRobotProgram(); + } +} + +} // namespace ur_driver } // namespace isaac diff --git a/ur_robot_driver/UniversalRobots.hpp b/ur_robot_driver/UniversalRobots.hpp new file mode 100644 index 0000000..a0bab7b --- /dev/null +++ b/ur_robot_driver/UniversalRobots.hpp @@ -0,0 +1,398 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2020 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2020”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#pragma once +#include +#include +#include +#include + +#include "ur_client_library/ur/ur_driver.h" +#include "engine/alice/alice_codelet.hpp" +#include "packages/math/gems/kinematic_tree/kinematic_tree.hpp" +#include "packages/composite/gems/serializer.hpp" +#include "packages/composite/gems/parser.hpp" +#include "messages/composite.capnp.h" +#include "messages/basic.capnp.h" +#include "packages/universal_robots/ur_msg/speed_slider.capnp.h" + +namespace isaac +{ +namespace ur_driver +{ +/*! + * \brief Available control modes for arm. + */ +enum ArmControlMode +{ + kJointPosition, // Control joints position + kJointSpeed, // Control joints speed + kInvalid = -1 // Invalid control mode, returned from an invalid string in JSON +}; + +/*! + * \brief Mapping between each ArmControlMode type and an identifying string. + */ +NLOHMANN_JSON_SERIALIZE_ENUM(ArmControlMode, { { kInvalid, nullptr }, + { kJointPosition, "joint position" }, + { kJointSpeed, "joint speed" } }); + +/*! + * \brief Possible states for robot control + */ +enum class PausingState +{ + PAUSED, + RUNNING, + RAMPUP +}; + +/*! + * \brief The UniversalRobots class handles the interface between an Isaac application and + * the main driver. It is publishing actual robot and IO state and receiving IO and arm commands. + */ + +class UniversalRobots : public isaac::alice::Codelet +{ +public: + /*! + * \brief Handles the setup functionality. This includes collecting the kinematic tree and controller node, setting + * up the main driver object and connecting to the robot. + */ + void start() override; + + /*! + * \brief This functions is run cyclic with a fixed frequency. It checks whether a new message is available, + * in any of the incomming channels. In the end the robot and IO state is published. + */ + void tick() override; + + /*! + * \brief Used to stop the running thread and stop the drivers control of the robot. + */ + void stop() override; + + /*! + * \brief Receives command for arm, parsed based on control mode + */ + ISAAC_PROTO_RX(CompositeProto, arm_command); + + /*! + * \brief Receives IO command, to set any of the robot's IOs. + */ + ISAAC_PROTO_RX(CompositeProto, io_command); + + /*! + * \brief Receives a signal to stop control of robot through Isaac. The boolean flag needs to be true, + * to stop control of the robot through Isaac. This will make the "External Control" program node on the UR-Program + * return. + */ + ISAAC_PROTO_RX(BooleanProto, stop_control); + + /*! + * \brief Receives a signal to send the URScript program to the robot for execution, when the robot is in headless + * mode. The boolean flag needs to be true, to send the script. Use this after the program has been interrupted, e.g. + * by a protective- or EM-stop. + */ + ISAAC_PROTO_RX(BooleanProto, resend_control_script); + + /*! + * \brief Set the speed slider fraction used by the robot's execution. Values should be between 0 and 1. + * Only set this smaller than 1 if you are using the ur_controller or you know what you're + * doing. Using this with other controllers might lead to unexpected behaviors. + */ + ISAAC_PROTO_RX(SpeedSliderProto, set_speed_slider); + + /*! + * \brief Current state of the arm, includes joint angles, joint speeds and current speed fraction. + */ + ISAAC_PROTO_TX(CompositeProto, arm_state); + + /*! + * \brief Current IO state, includes digital inputs and outputs. + */ + ISAAC_PROTO_TX(CompositeProto, io_state); + + /*! + * \brief Whenever the runtime state of the "External Control" program node in the UR-program changes + * a message gets published. So this is equivalent to the information whether the robot + * accepts commands from Isaac side. + */ + ISAAC_PROTO_TX(BooleanProto, robot_program_running); + + /*! + * \brief Publish a trajectory to the controller to make sure the robots stays in the same position. The trajectory is + * published everytime "External Control" program node starts running. This used to make sure that the newest + * trajectory, is based upon the robots current position when Isaac starts controlling the robot. + */ + ISAAC_PROTO_TX(CompositeProto, trajectory); + + /*! + * \brief Name of the node containing the map:KinematicTree component. This is used to obtain the names + * of the joints for parsing/creating composite message. + */ + ISAAC_PARAM(std::string, kinematic_tree); + + /*! + * \brief Name of the node containing the controller component. + * This node is started and stopped based upon the drivers control status of the robot. + */ + ISAAC_PARAM(std::string, controller); + + /*! + * \brief Name of the node containing the dashboard component This is used to start the node and set the ip address. + * Nothing will happen if this parameter is kept empty. + */ + ISAAC_PARAM(std::string, dashboard_client); + + /*! + * \brief Set control mode for arm. + */ + ISAAC_PARAM(ArmControlMode, control_mode, kJointPosition); + + /*! + * \brief Name of speed_fraction and timestamp used for creating composite message. + */ + ISAAC_PARAM(std::vector, misc_names, std::vector({ "timestamp", "speed_fraction" })); + + /*! + * \brief Entity name for digital tool output. + */ + ISAAC_PARAM(std::vector, tool_digital_out_names, + std::vector({ "tool_digital_out_0", "tool_digital_out_1" })); + + /*! + * \brief Entity name for digital tool input. + */ + ISAAC_PARAM(std::vector, tool_digital_in_names, + std::vector({ "tool_digital_in_0", "tool_digital_in_1" })); + + /*! + * \brief Driver settings + * + * \param robot_ip Ip address of the robot. + * \param control_script_program URScript file that is sent to the robot. + * \param rtde_input_recipe Filename where the input recipe is stored in. + * \param rtde_output_recipe Filename where the output recipe is stored in. + * \param headless_mode Parameter to control if the driver should be started in headless mode. + * \param servoj_gain Specify gain for servoing to position in joint space. A higher gain can sharpen the trajectory. + * \param servoj_lookahead_time Specify lookahead time for servoing to position in joint space. A longer lookahead + * time can smooth the trajectory. + */ + ISAAC_PARAM(std::string, robot_ip); + ISAAC_PARAM(std::string, control_script_program, + "packages/universal_robots/ur_robot_driver/resources/ros_control.urscript"); + ISAAC_PARAM(std::string, rtde_input_recipe, + "packages/universal_robots/ur_robot_driver/resources/rtde_input_recipe.txt"); + ISAAC_PARAM(std::string, rtde_output_recipe, + "packages/universal_robots/ur_robot_driver/resources/rtde_output_recipe.txt"); + ISAAC_PARAM(bool, headless_mode, false); + ISAAC_PARAM(double, servoj_gain, 2000); + ISAAC_PARAM(double, servoj_lookahead_time, 0.03) + +private: + std::unique_ptr ur_driver_; + + /*! + * \brief Callback to handle a change in the current state of the URScript running on the robot. + * This function is called when the robot connects to the driver or when it disconnects from driver. + * + * \param program_running True when robot connects false when robot disconnects. + */ + void handle_program_state(bool program_running); + + /*! + * \brief Running thread which reads robot state data over RTDE connection. + */ + std::thread rtde_main_loop_trd_; + bool rtde_thread_running_; + void RTDEMainLoop(); + + /*! + * \brief Struct representing the robot state. + * + * \param timestamp Time elapsed since the controller was started. + * \param q Actual joint positions. + * \param qd Actual joint speeds. + * \param actual_dig_in_bits Current state of the digital inputs. + * \param actual_dig_out_bits Current state of the digital outputs. + * \param speed_fraction Current speed fraction. + */ + struct RobotState + { + double timestamp; + urcl::vector6d_t q, qd; + uint64_t actual_dig_in_bits, actual_dig_out_bits; + double speed_fraction; + }; + + /*! + * \brief Reads robot state over RTDE connection. + * + * \returns true on succes. + */ + std::mutex robot_state_mutex_; + bool updateRobotState(); + RobotState latest_robot_state_; + + /*! + * \brief Update the speed scaling depending on the robot state. + * + * \param data_pkg received RTDE Data package. + * + * \returns true on succes. + */ + PausingState pausing_state_; + double pausing_ramp_up_increment_; + double speed_scaling_combined_; + bool updateSpeedScale(urcl::rtde_interface::DataPackage* data_pkg); + + /*! + * \brief Validates the kinematic tree object is consistent with the hardware model + * + * \param model The kinematicTree model. + * + * \returns true on succes. + */ + bool validateKinematicTree(const kinematic_tree::KinematicTree& model); + + /*! + * \brief Initialize controller_stopper node, used to stop and start the Isaac controller. + * When the status goes to false, the controller is stopped. If status returns to true the stopped controller is + * restarted. + */ + void initControllerStopper(const std::string controller_node_name); + + /*! + * \brief Request a schema for parsing IO command and arm command based on control mode. + * + * \param mode Arm control mode. + */ + void initCommandParser(const ArmControlMode mode); + void initIOCommandParser(); + + /*! + * \brief Parse commands from Composite message + * + * \param mode Arm control mode. + */ + void parseCommand(const ArmControlMode mode); + void parseIOCommand(); + + /*! + * \brief Generate the composite schema for publishing messages. + */ + void initStateSchema(); + void initIOSchema(); + void initTrajectorySchema(); + + /*! + * \brief Publish current arm state and current IO state + * + * \param state Current robot state. + */ + void publishRobotState(RobotState state); + void publishIOState(RobotState state); + void publishState(); + + /*! + * \brief Publish a trajectory to the Isaac controller to make sure the robots stays in the same position. + * The trajectory is published everytime "External Control" program node starts running. + * + * \param state Current robot state. + */ + void publishJointTrajectory(RobotState state); + + /*! + * \brief Publishing program state. + */ + void publishProgramState(); + + /*! + * \brief Stop robot control. + */ + void stopControl(); + + /*! + * \brief Set the speed slider. + */ + void setSpeedSlider(); + + /*! + * \brief Resend the control script. + */ + void resendControlScript(); + + // Cache control mode. + ArmControlMode control_mode_; + + // Cache list of joint names + std::vector joint_names_; + + // Acquire time for most recently received message + std::optional last_command_time_; + std::optional last_io_command_time_; + std::optional last_stop_control_time_; + std::optional last_speed_slider_time_; + std::optional last_resend_control_script_time_; + + // Parsers for command message + composite::Parser command_parser_; + composite::Parser io_command_parser_; + + // Cache schema for state message + composite::Schema state_schema_; + composite::Schema io_schema_; + composite::Schema target_state_schema_; + + // Cache serialize for creating joint trajectory + composite::Serializer trajectory_serializer_; + + // Robots runtime state and bool to reflect if control script is running on the robot. + uint32_t runtime_state_; + std::mutex runtime_mutex_; + bool robot_program_running_; + + // Bool to reflect when to publish program state and trajectory reset. + bool publish_program_state_; + bool trajectory_reset_necessary_; + + // Node containing the controller + alice::Node* controller_node_; + + // Node containing the dashboard client used for starting and stopping the client along with the driver + alice::Node* dashboard_client_; + bool dashboard_client_started_; +}; + +} // namespace ur_driver +} // namespace isaac + +ISAAC_ALICE_REGISTER_CODELET(isaac::ur_driver::UniversalRobots); diff --git a/ur_robot_driver/UrclLogHandler.cpp b/ur_robot_driver/UrclLogHandler.cpp new file mode 100644 index 0000000..0398c02 --- /dev/null +++ b/ur_robot_driver/UrclLogHandler.cpp @@ -0,0 +1,88 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#include "UrclLogHandler.hpp" +#include "engine/core/logger.hpp" + +namespace isaac +{ +namespace ur_driver +{ + +bool g_initialized_ = false; +std::unique_ptr g_log_handler(new UrclLogHandler); + +UrclLogHandler::UrclLogHandler() = default; + +void UrclLogHandler::log(const char* file, int line, urcl::LogLevel loglevel, const char* message) +{ + switch (loglevel) + { + case urcl::LogLevel::INFO: + logger::LoggingFunction(file, line, logger::Severity::INFO, message); + break; + case urcl::LogLevel::DEBUG: + logger::LoggingFunction(file, line, logger::Severity::DEBUG, message); + break; + case urcl::LogLevel::WARN: + logger::LoggingFunction(file, line, logger::Severity::WARNING, message); + break; + case urcl::LogLevel::ERROR: + logger::LoggingFunction(file, line, logger::Severity::ERROR, message); + break; + case urcl::LogLevel::FATAL: + logger::LoggingFunction(file, line, logger::Severity::ERROR, message); + break; + default: + break; + } +} + +void registerUrclLogHandler() +{ + if (g_initialized_ == false) + { + urcl::setLogLevel(urcl::LogLevel::DEBUG); + urcl::registerLogHandler(std::move(g_log_handler)); + g_initialized_ = true; + } +} + +void unregisterUrclLogHandler() +{ + if (g_initialized_ == true) + { + urcl::unregisterLogHandler(); + g_initialized_ = false; + } +} + +} // namespace ur_driver +} // namespace isaac \ No newline at end of file diff --git a/ur_robot_driver/UrclLogHandler.hpp b/ur_robot_driver/UrclLogHandler.hpp new file mode 100644 index 0000000..cbb91c4 --- /dev/null +++ b/ur_robot_driver/UrclLogHandler.hpp @@ -0,0 +1,75 @@ +// -- BEGIN LICENSE BLOCK ---------------------------------------------- +// Copyright 2021 Universal Robots A/S +// +// 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. + +// All source code contained in and/or linked to in this message (the “Source Code”) is subject to the copyright of +// Universal Robots A/S and/or its licensors. THE SOURCE CODE IS PROVIDED “AS IS” WITHOUT WARRANTY OF ANY KIND, EXPRESS +// OR IMPLIED, INCLUDING – BUT NOT LIMITED TO – WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR +// NONINFRINGEMENT. USE OF THE SOURCE CODE IS AT YOUR OWN RISK AND UNIVERSAL ROBOTS A/S AND ITS LICENSORS SHALL, TO THE +// MAXIMUM EXTENT PERMITTED BY LAW, NOT BE LIABLE FOR ANY ERRORS OR MALICIOUS CODE IN THE SOURCE CODE, ANY THIRD-PARTY +// CLAIMS, OR ANY OTHER CLAIMS AND DAMAGES, INCLUDING INDIRECT, INCIDENTAL, SPECIAL, CONSEQUENTIAL OR PUNITIVE DAMAGES, +// OR ANY LOSS OF PROFITS, EXPECTED SAVINGS, OR REVENUES, WHETHER INCURRED DIRECTLY OR INDIRECTLY, OR ANY LOSS OF DATA, +// USE, GOODWILL, OR OTHER INTANGIBLE LOSSES, RESULTING FROM YOUR USE OF THE SOURCE CODE. You may make copies of the +// Source Code for use in connection with a Universal Robots or UR+ product, provided that you include (i) an +// appropriate copyright notice (“© [the year in which you received the Source Code or the Source Code was first +// published, e.g. “2021”] Universal Robots A/S and/or its licensors”) along with the capitalized section of this notice +// in all copies of the Source Code. By using the Source Code, you agree to the above terms. For more information, +// please contact legal@universal-robots.com. +// -- END LICENSE BLOCK ------------------------------------------------ + +#pragma once + +#include "ur_client_library/log.h" + +namespace isaac +{ +namespace ur_driver +{ +/*! + * \brief Loghandler for handling messages logged with the C++ client library. This loghandler will log the messages + * from the client library with Isaac logging. + * Use registerLogHandler to register this class, shouldn't be instansiated directly. + */ +class UrclLogHandler : public urcl::LogHandler +{ +public: + /*! + * \brief Default constructor + */ + UrclLogHandler(); + + /*! + * \brief Function to log a message + * + * \param file The log message comes from this file + * \param line The log message comes from this line + * \param loglevel Indicates the severity of the log message + * \param log Log message + */ + void log(const char* file, int line, urcl::LogLevel loglevel, const char* message) override; +}; + +/*! + * \brief Register the UrclLoghHandler, this will start logging messages from the client library with Isaac logging. + * This function has to be called inside your node, to enable the log handler. + */ +void registerUrclLogHandler(); + +/*! + * \brief Unregister the UrclLoghHandler, stop logging messages from the client library with Isaac logging. + */ +void unregisterUrclLogHandler(); + +} // namespace ur_driver +} // namespace isaac diff --git a/ur_robot_driver/apps/BUILD b/ur_robot_driver/apps/BUILD new file mode 100644 index 0000000..a783b12 --- /dev/null +++ b/ur_robot_driver/apps/BUILD @@ -0,0 +1,33 @@ +load("//bzl:module.bzl", "isaac_subgraph") + +isaac_subgraph( + name = "ur_eseries_robot_subgraph", + modules = [ + "//packages/universal_robots:universal_robots", + "map", + "planner", + "lqr", + "//packages/universal_robots/ur_controller:ur_controller", + ], + data = [ + "//apps/assets/kinematic_trees", + ], + subgraph = "ur_eseries_robot.subgraph.json", + visibility = ["//visibility:public"], +) + +isaac_subgraph( + name = "ur_cb3_robot_subgraph", + modules = [ + "//packages/universal_robots:universal_robots", + "map", + "planner", + "lqr", + "//packages/universal_robots/ur_controller:ur_controller", + ], + data = [ + "//apps/assets/kinematic_trees", + ], + subgraph = "ur_cb3_robot.subgraph.json", + visibility = ["//visibility:public"], +) \ No newline at end of file diff --git a/ur_robot_driver/apps/ur_cb3_robot.subgraph.json b/ur_robot_driver/apps/ur_cb3_robot.subgraph.json new file mode 100644 index 0000000..7f40e98 --- /dev/null +++ b/ur_robot_driver/apps/ur_cb3_robot.subgraph.json @@ -0,0 +1,243 @@ +{ + "modules": [ + "map", + "planner", + "lqr", + "//packages/universal_robots/ur_controller:ur_controller", + "//packages/universal_robots:universal_robots" + ], + "graph": { + "nodes": [ + { + "name": "subgraph", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "interface", + "type": "isaac::alice::Subgraph" + } + ] + }, + { + "name": "universal_robots", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "UniversalRobots", + "type": "isaac::ur_driver::UniversalRobots" + } + ] + }, + { + "name": "dashboard_client_isaac", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "DashboardClientIsaac", + "type": "isaac::ur_driver::DashboardClientIsaac" + } + ], + "disable_automatic_start": true + }, + { + "start_order": -100, + "name": "kinematic_tree", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "KinematicTree", + "type": "isaac::map::KinematicTree" + } + ] + }, + { + "name": "local_plan", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "MultiJointLqrPlanner", + "type": "isaac::lqr::MultiJointLqrPlanner" + }, + { + "name": "MultiJointPlanner", + "type": "isaac::planner::MultiJointPlanner" + } + ] + }, + { + "name": "controller", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "ScaledMultiJointController", + "type": "isaac::ur_controller::ScaledMultiJointController" + } + ] + } + ], + "edges": [ + { + "source": "universal_robots/UniversalRobots/arm_state", + "target": "local_plan/MultiJointPlanner/starting_state" + }, + { + "source": "local_plan/MultiJointPlanner/plan", + "target": "controller/ScaledMultiJointController/plan" + }, + { + "source": "controller/ScaledMultiJointController/joint_command", + "target": "universal_robots/UniversalRobots/arm_command" + }, + { + "source": "universal_robots/UniversalRobots/arm_state", + "target": "controller/ScaledMultiJointController/current_arm_state" + }, + { + "source": "universal_robots/UniversalRobots/trajectory", + "target": "controller/ScaledMultiJointController/plan" + }, + { + "source": "subgraph/interface/joint_target", + "target": "local_plan/MultiJointPlanner/target_state" + }, + { + "source": "controller/ScaledMultiJointController/trajectory_executed_succesfully", + "target": "subgraph/interface/trajectory_executed_succesfully" + }, + { + "source": "subgraph/interface/dashboard_command", + "target": "dashboard_client_isaac/DashboardClientIsaac/dashboard_command" + }, + { + "source": "dashboard_client_isaac/DashboardClientIsaac/dashboard_anwser", + "target": "subgraph/interface/dashboard_anwser" + }, + { + "source": "subgraph/interface/stop_control", + "target": "universal_robots/UniversalRobots/stop_control" + }, + { + "source": "subgraph/interface/set_speed_slider", + "target": "universal_robots/UniversalRobots/set_speed_slider" + }, + { + "source": "subgraph/interface/io_command", + "target": "universal_robots/UniversalRobots/io_command" + }, + { + "source": "subgraph/interface/resend_control_script", + "target": "universal_robots/UniversalRobots/resend_control_script" + }, + { + "source": "universal_robots/UniversalRobots/io_state", + "target": "subgraph/interface/io_state" + }, + { + "source": "universal_robots/UniversalRobots/arm_state", + "target": "subgraph/interface/arm_state" + }, + { + "source": "universal_robots/UniversalRobots/robot_program_running", + "target": "subgraph/interface/robot_program_running" + } + ] + }, + "config": { + "kinematic_tree": { + "KinematicTree": { + "kinematic_file": "apps/assets/kinematic_trees/ur10.kinematic.json" + } + }, + "universal_robots": { + "UniversalRobots": { + "tick_period": "125Hz", + "kinematic_tree": "$(fullname kinematic_tree)", + "controller": "$(fullname controller)", + "dashboard_client": "$(fullname dashboard_client_isaac)" + } + }, + "local_plan":{ + "MultiJointLqrPlanner": { + "speed_max": [1,1,1,1,1,1], + "speed_min": [-1,-1,-1,-1,-1,-1], + "acceleration_max": [1,1,1,1,1,1], + "acceleration_min": [-1,-1,-1,-1,-1,-1] + }, + "MultiJointPlanner": { + "tick_period": "10Hz", + "kinematic_tree_node_name": "$(fullname kinematic_tree)", + "multi_joint_planner_node_name": "$(fullname local_plan)" + } + }, + "controller": { + "ScaledMultiJointController": { + "goal_time": 0.6, + "tolerance": 0.1, + "tick_period": "125Hz", + "kinematic_tree": "$(fullname kinematic_tree)", + "gains": { + "shoulder_pan_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "shoulder_lift_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "elbow_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "wrist_1_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "wrist_2_joint": { + "p": 5, + "i": 0.05, + "d": 0.01, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "wrist_3_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + } + } + } + } + } +} diff --git a/ur_robot_driver/apps/ur_eseries_robot.subgraph.json b/ur_robot_driver/apps/ur_eseries_robot.subgraph.json new file mode 100644 index 0000000..a196c1f --- /dev/null +++ b/ur_robot_driver/apps/ur_eseries_robot.subgraph.json @@ -0,0 +1,243 @@ +{ + "modules": [ + "map", + "planner", + "lqr", + "//packages/universal_robots/ur_controller:ur_controller", + "//packages/universal_robots:universal_robots" + ], + "graph": { + "nodes": [ + { + "name": "subgraph", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "interface", + "type": "isaac::alice::Subgraph" + } + ] + }, + { + "name": "universal_robots", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "UniversalRobots", + "type": "isaac::ur_driver::UniversalRobots" + } + ] + }, + { + "name": "dashboard_client_isaac", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "DashboardClientIsaac", + "type": "isaac::ur_driver::DashboardClientIsaac" + } + ], + "disable_automatic_start": true + }, + { + "start_order": -100, + "name": "kinematic_tree", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "KinematicTree", + "type": "isaac::map::KinematicTree" + } + ] + }, + { + "name": "local_plan", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "MultiJointLqrPlanner", + "type": "isaac::lqr::MultiJointLqrPlanner" + }, + { + "name": "MultiJointPlanner", + "type": "isaac::planner::MultiJointPlanner" + } + ] + }, + { + "name": "controller", + "components": [ + { + "name": "ledger", + "type": "isaac::alice::MessageLedger" + }, + { + "name": "ScaledMultiJointController", + "type": "isaac::ur_controller::ScaledMultiJointController" + } + ] + } + ], + "edges": [ + { + "source": "universal_robots/UniversalRobots/arm_state", + "target": "local_plan/MultiJointPlanner/starting_state" + }, + { + "source": "local_plan/MultiJointPlanner/plan", + "target": "controller/ScaledMultiJointController/plan" + }, + { + "source": "controller/ScaledMultiJointController/joint_command", + "target": "universal_robots/UniversalRobots/arm_command" + }, + { + "source": "universal_robots/UniversalRobots/arm_state", + "target": "controller/ScaledMultiJointController/current_arm_state" + }, + { + "source": "universal_robots/UniversalRobots/trajectory", + "target": "controller/ScaledMultiJointController/plan" + }, + { + "source": "subgraph/interface/joint_target", + "target": "local_plan/MultiJointPlanner/target_state" + }, + { + "source": "controller/ScaledMultiJointController/trajectory_executed_succesfully", + "target": "subgraph/interface/trajectory_executed_succesfully" + }, + { + "source": "subgraph/interface/dashboard_command", + "target": "dashboard_client_isaac/DashboardClientIsaac/dashboard_command" + }, + { + "source": "dashboard_client_isaac/DashboardClientIsaac/dashboard_anwser", + "target": "subgraph/interface/dashboard_anwser" + }, + { + "source": "subgraph/interface/resend_control_script", + "target": "universal_robots/UniversalRobots/resend_control_script" + }, + { + "source": "subgraph/interface/stop_control", + "target": "universal_robots/UniversalRobots/stop_control" + }, + { + "source": "subgraph/interface/set_speed_slider", + "target": "universal_robots/UniversalRobots/set_speed_slider" + }, + { + "source": "subgraph/interface/io_command", + "target": "universal_robots/UniversalRobots/io_command" + }, + { + "source": "universal_robots/UniversalRobots/io_state", + "target": "subgraph/interface/io_state" + }, + { + "source": "universal_robots/UniversalRobots/arm_state", + "target": "subgraph/interface/arm_state" + }, + { + "source": "universal_robots/UniversalRobots/robot_program_running", + "target": "subgraph/interface/robot_program_running" + } + ] + }, + "config": { + "kinematic_tree": { + "KinematicTree": { + "kinematic_file": "apps/assets/kinematic_trees/ur10.kinematic.json" + } + }, + "universal_robots": { + "UniversalRobots": { + "tick_period": "500Hz", + "kinematic_tree": "$(fullname kinematic_tree)", + "controller": "$(fullname controller)", + "dashboard_client": "$(fullname dashboard_client_isaac)" + } + }, + "local_plan":{ + "MultiJointLqrPlanner": { + "speed_max": [1,1,1,1,1,1], + "speed_min": [-1,-1,-1,-1,-1,-1], + "acceleration_max": [1,1,1,1,1,1], + "acceleration_min": [-1,-1,-1,-1,-1,-1] + }, + "MultiJointPlanner": { + "tick_period": "10Hz", + "kinematic_tree_node_name": "$(fullname kinematic_tree)", + "multi_joint_planner_node_name": "$(fullname local_plan)" + } + }, + "controller": { + "ScaledMultiJointController": { + "goal_time": 0.6, + "tolerance": 0.1, + "tick_period": "500Hz", + "kinematic_tree": "$(fullname kinematic_tree)", + "gains": { + "shoulder_pan_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "shoulder_lift_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "elbow_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "wrist_1_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "wrist_2_joint": { + "p": 5, + "i": 0.05, + "d": 0.01, + "i_clamp": 1, + "velocity_ff" : 1 + }, + "wrist_3_joint": { + "p": 5, + "i": 0.05, + "d": 0.1, + "i_clamp": 1, + "velocity_ff" : 1 + } + } + } + } + } +} diff --git a/ur_robot_driver/config/ur10_controllers.yaml b/ur_robot_driver/config/ur10_controllers.yaml deleted file mode 100644 index d90b0ca..0000000 --- a/ur_robot_driver/config/ur10_controllers.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# Settings for ros_control control loop -hardware_control_loop: - loop_hz: &loop_hz 125 - -# Settings for ros_control hardware interface -hardware_interface: - joints: &robot_joints - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - -# Publish all joint states ---------------------------------- -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: *loop_hz - -# Publish wrench ---------------------------------- -force_torque_sensor_controller: - type: force_torque_sensor_controller/ForceTorqueSensorController - publish_rate: *loop_hz - -# Publish speed_scaling factor -speed_scaling_state_controller: - type: ur_controllers/SpeedScalingStateController - publish_rate: *loop_hz - -# Joint Trajectory Controller - position based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -scaled_pos_traj_controller: - type: position_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -pos_traj_controller: - type: position_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -scaled_vel_traj_controller: - type: velocity_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -vel_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: *robot_joints diff --git a/ur_robot_driver/config/ur10e_controllers.yaml b/ur_robot_driver/config/ur10e_controllers.yaml deleted file mode 100644 index b2c4632..0000000 --- a/ur_robot_driver/config/ur10e_controllers.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# Settings for ros_control control loop -hardware_control_loop: - loop_hz: &loop_hz 500 - -# Settings for ros_control hardware interface -hardware_interface: - joints: &robot_joints - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - -# Publish all joint states ---------------------------------- -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: *loop_hz - -# Publish wrench ---------------------------------- -force_torque_sensor_controller: - type: force_torque_sensor_controller/ForceTorqueSensorController - publish_rate: *loop_hz - -# Publish speed_scaling factor -speed_scaling_state_controller: - type: ur_controllers/SpeedScalingStateController - publish_rate: *loop_hz - -# Joint Trajectory Controller - position based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -scaled_pos_traj_controller: - type: position_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -pos_traj_controller: - type: position_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -scaled_vel_traj_controller: - type: velocity_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -vel_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: *robot_joints diff --git a/ur_robot_driver/config/ur3_controllers.yaml b/ur_robot_driver/config/ur3_controllers.yaml deleted file mode 100644 index e6994ba..0000000 --- a/ur_robot_driver/config/ur3_controllers.yaml +++ /dev/null @@ -1,142 +0,0 @@ -# Settings for ros_control control loop -hardware_control_loop: - loop_hz: &loop_hz 125 - -# Settings for ros_control hardware interface -hardware_interface: - joints: &robot_joints - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - -# Publish all joint states ---------------------------------- -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: *loop_hz - -# Publish wrench ---------------------------------- -force_torque_sensor_controller: - type: force_torque_sensor_controller/ForceTorqueSensorController - publish_rate: *loop_hz - -# Publish speed_scaling factor -speed_scaling_state_controller: - type: ur_controllers/SpeedScalingStateController - publish_rate: *loop_hz - -# Joint Trajectory Controller - position based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -scaled_pos_traj_controller: - type: position_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -pos_traj_controller: - type: position_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - - -scaled_vel_traj_controller: - type: velocity_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -vel_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: *robot_joints diff --git a/ur_robot_driver/config/ur3e_controllers.yaml b/ur_robot_driver/config/ur3e_controllers.yaml deleted file mode 100644 index b2c4632..0000000 --- a/ur_robot_driver/config/ur3e_controllers.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# Settings for ros_control control loop -hardware_control_loop: - loop_hz: &loop_hz 500 - -# Settings for ros_control hardware interface -hardware_interface: - joints: &robot_joints - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - -# Publish all joint states ---------------------------------- -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: *loop_hz - -# Publish wrench ---------------------------------- -force_torque_sensor_controller: - type: force_torque_sensor_controller/ForceTorqueSensorController - publish_rate: *loop_hz - -# Publish speed_scaling factor -speed_scaling_state_controller: - type: ur_controllers/SpeedScalingStateController - publish_rate: *loop_hz - -# Joint Trajectory Controller - position based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -scaled_pos_traj_controller: - type: position_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -pos_traj_controller: - type: position_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -scaled_vel_traj_controller: - type: velocity_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -vel_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: *robot_joints diff --git a/ur_robot_driver/config/ur5_controllers.yaml b/ur_robot_driver/config/ur5_controllers.yaml deleted file mode 100644 index d90b0ca..0000000 --- a/ur_robot_driver/config/ur5_controllers.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# Settings for ros_control control loop -hardware_control_loop: - loop_hz: &loop_hz 125 - -# Settings for ros_control hardware interface -hardware_interface: - joints: &robot_joints - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - -# Publish all joint states ---------------------------------- -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: *loop_hz - -# Publish wrench ---------------------------------- -force_torque_sensor_controller: - type: force_torque_sensor_controller/ForceTorqueSensorController - publish_rate: *loop_hz - -# Publish speed_scaling factor -speed_scaling_state_controller: - type: ur_controllers/SpeedScalingStateController - publish_rate: *loop_hz - -# Joint Trajectory Controller - position based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -scaled_pos_traj_controller: - type: position_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -pos_traj_controller: - type: position_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -scaled_vel_traj_controller: - type: velocity_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -vel_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: *robot_joints diff --git a/ur_robot_driver/config/ur5e_controllers.yaml b/ur_robot_driver/config/ur5e_controllers.yaml deleted file mode 100644 index b2c4632..0000000 --- a/ur_robot_driver/config/ur5e_controllers.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# Settings for ros_control control loop -hardware_control_loop: - loop_hz: &loop_hz 500 - -# Settings for ros_control hardware interface -hardware_interface: - joints: &robot_joints - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - -# Publish all joint states ---------------------------------- -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: *loop_hz - -# Publish wrench ---------------------------------- -force_torque_sensor_controller: - type: force_torque_sensor_controller/ForceTorqueSensorController - publish_rate: *loop_hz - -# Publish speed_scaling factor -speed_scaling_state_controller: - type: ur_controllers/SpeedScalingStateController - publish_rate: *loop_hz - -# Joint Trajectory Controller - position based ------------------------------- -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -scaled_pos_traj_controller: - type: position_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -pos_traj_controller: - type: position_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.2, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.2, goal: 0.1} - elbow_joint: {trajectory: 0.2, goal: 0.1} - wrist_1_joint: {trajectory: 0.2, goal: 0.1} - wrist_2_joint: {trajectory: 0.2, goal: 0.1} - wrist_3_joint: {trajectory: 0.2, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - -scaled_vel_traj_controller: - type: velocity_controllers/ScaledJointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -vel_traj_controller: - type: velocity_controllers/JointTrajectoryController - joints: *robot_joints - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} - shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} - elbow_joint: {trajectory: 0.1, goal: 0.1} - wrist_1_joint: {trajectory: 0.1, goal: 0.1} - wrist_2_joint: {trajectory: 0.1, goal: 0.1} - wrist_3_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: *loop_hz - action_monitor_rate: 10 - gains: - #!!These values have not been optimized!! - shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} - - # Use a feedforward term to reduce the size of PID gains - velocity_ff: - shoulder_pan_joint: 1.0 - shoulder_lift_joint: 1.0 - elbow_joint: 1.0 - wrist_1_joint: 1.0 - wrist_2_joint: 1.0 - wrist_3_joint: 1.0 - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #stop_trajectory_duration: 0 # Defaults to 0.0 - -# Pass an array of joint velocities directly to the joints -joint_group_vel_controller: - type: velocity_controllers/JointGroupVelocityController - joints: *robot_joints diff --git a/ur_robot_driver/doc/ROS_INTERFACE.md b/ur_robot_driver/doc/ROS_INTERFACE.md deleted file mode 100644 index c33fa4f..0000000 --- a/ur_robot_driver/doc/ROS_INTERFACE.md +++ /dev/null @@ -1,1023 +0,0 @@ -# ur_robot_driver - -The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series. - -## Launchfiles -### ur3e_bringup.launch - -Standalone launchfile to startup a ur3e. This requires a robot reachable via a network connection. - -#### Arguments - * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur3e_controllers.yaml") - - Config file used for defining the ROS-Control controllers. - - * "**controllers**" (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller") - - Controllers that are activated by default. - - * "**debug**" (default: "false") - - Debug flag that will get passed on to ur_common.launch - - * "**headless_mode**" (default: "false") - - Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot. - - * "**kinematics_config**" (default: "$(find ur_e_description)/config/ur3e_default.yaml") - - Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. - - * "**limited**" (default: "false") - - Use the description in limited mode (Every axis rotates from -PI to PI) - - * "**reverse_port**" (default: "50001") - - Port that will be opened by the driver to allow direct communication between the driver and the robot controller. - - * "**robot_description_file**" (default: "$(find ur_e_description)/launch/ur3e_upload.launch") - - Robot description launch file. - - * "**robot_ip**" (Required) - - IP address by which the robot can be reached. - - * "**script_sender_port**" (default: "50002") - - The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately. - - * "**stopped_controllers**" (default: "pos_traj_controller") - - Controllers that are initally loaded, but not started. - - * "**tf_prefix**" (default: "") - - tf_prefix used for the robot. - - * "**tool_baud_rate**" (default: "115200") - - Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_device_name**" (default: "/tmp/ttyUR") - - Local device name used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_parity**" (default: "0") - - Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_rx_idle_chars**" (default: "1.5") - - Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_stop_bits**" (default: "1") - - Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_tcp_port**" (default: "54321") - - Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true. - - * "**tool_tx_idle_chars**" (default: "3.5") - - Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_voltage**" (default: "0") - - Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true. - - * "**use_tool_communication**" (default: "false") - - On e-Series robots tool communication can be enabled with this argument - -### ur10_bringup.launch - -Standalone launchfile to startup a ur10 robot. This requires a robot reachable via a network connection. - -#### Arguments - * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur10_controllers.yaml") - - Config file used for defining the ROS-Control controllers. - - * "**controllers**" (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller") - - Controllers that are activated by default. - - * "**debug**" (default: "false") - - Debug flag that will get passed on to ur_common.launch - - * "**headless_mode**" (default: "false") - - Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot. - - * "**kinematics_config**" (default: "$(find ur_description)/config/ur10_default.yaml") - - Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. - - * "**limited**" (default: "false") - - Use the description in limited mode (Every axis rotates from -PI to PI) - - * "**reverse_port**" (default: "50001") - - Port that will be opened by the driver to allow direct communication between the driver and the robot controller. - - * "**robot_description_file**" (default: "$(find ur_description)/launch/ur10_upload.launch") - - Robot description launch file. - - * "**robot_ip**" (Required) - - IP address by which the robot can be reached. - - * "**script_sender_port**" (default: "50002") - - The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately. - - * "**stopped_controllers**" (default: "pos_traj_controller") - - Controllers that are initally loaded, but not started. - - * "**tf_prefix**" (default: "") - - tf_prefix used for the robot. - -### ur_control.launch - -Robot bringup launchfile without the robot description. Include this, if you want to include robot control into a larger launchfile structure. - -#### Arguments - * "**controller_config_file**" (Required) - - Config file used for defining the ROS-Control controllers. - - * "**controllers**" (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller") - - Controllers that are activated by default. - - * "**debug**" (default: "false") - - If set to true, will start the driver inside gdb - - * "**headless_mode**" (default: "false") - - Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot. - - * "**kinematics_config**" (Required) - - Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. Pass the same config file that is passed to the robot_description. - - * "**launch_prefix**" (Required) - - Please add description. See file "launch/ur_control.launch". - - * "**reverse_port**" (default: "50001") - - Port that will be opened by the driver to allow direct communication between the driver and the robot controller. - - * "**robot_ip**" (Required) - - IP address by which the robot can be reached. - - * "**rtde_input_recipe_file**" (default: "$(find ur_robot_driver)/resources/rtde_input_recipe.txt") - - Recipe file used for the RTDE-inputs. Only change this if you know what you're doing. - - * "**rtde_output_recipe_file**" (default: "$(find ur_robot_driver)/resources/rtde_output_recipe.txt") - - Recipe file used for the RTDE-outputs. Only change this if you know what you're doing. - - * "**script_sender_port**" (default: "50002") - - The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately. - - * "**stopped_controllers**" (default: "pos_traj_controller") - - Controllers that are initally loaded, but not started. - - * "**tf_prefix**" (default: "") - - tf_prefix used for the robot. - - * "**tool_baud_rate**" (default: "115200") - - Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_device_name**" (default: "/tmp/ttyUR") - - Local device name used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_parity**" (default: "0") - - Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_rx_idle_chars**" (default: "1.5") - - Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_stop_bits**" (default: "1") - - Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_tcp_port**" (default: "54321") - - Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true. - - * "**tool_tx_idle_chars**" (default: "3.5") - - Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_voltage**" (default: "0") - - Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true. - - * "**urscript_file**" (default: "$(find ur_robot_driver)/resources/ros_control.urscript") - - Path to URScript that will be sent to the robot and that forms the main control program. - - * "**use_tool_communication**" (Required) - - On e-Series robots tool communication can be enabled with this argument - -### ur_common.launch - -Launchfile that starts a robot description with robot_state publisher and the driver for a given robot. It is recommended to use the individual launch files instead such as `ur10_bringup.launch`. Additionally, this launchfile can be used as a template to include this driver into a larger launch file structure. - -#### Arguments - * "**controller_config_file**" (Required) - - Config file used for defining the ROS-Control controllers. - - * "**controllers**" (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller") - - Controllers that are activated by default. - - * "**debug**" (default: "false") - - Debug flag that will get passed on to ur_control.launch - - * "**headless_mode**" (default: "false") - - Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot. - - * "**kinematics_config**" (Required) - - Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. - - * "**limited**" (default: "false") - - Use the description in limited mode (Every axis rotates from -PI to PI) - - * "**reverse_port**" (default: "50001") - - Port that will be opened by the driver to allow direct communication between the driver and the robot controller. - - * "**robot_description_file**" (Required) - - Robot description launch file. - - * "**robot_ip**" (Required) - - IP address by which the robot can be reached. - - * "**script_sender_port**" (default: "50002") - - The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately. - - * "**stopped_controllers**" (default: "pos_traj_controller") - - Controllers that are initally loaded, but not started. - - * "**tf_prefix**" (default: "") - - tf_prefix used for the robot. - - * "**tool_baud_rate**" (default: "115200") - - Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_device_name**" (default: "/tmp/ttyUR") - - Local device name used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_parity**" (default: "0") - - Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_rx_idle_chars**" (default: "1.5") - - Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_stop_bits**" (default: "1") - - Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_tcp_port**" (default: "54321") - - Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true. - - * "**tool_tx_idle_chars**" (default: "3.5") - - Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_voltage**" (default: "0") - - Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true. - - * "**use_tool_communication**" (Required) - - On e-Series robots tool communication can be enabled with this argument - -### ur5_bringup.launch - -Standalone launchfile to startup a ur5 robot. This requires a robot reachable via a network connection. - -#### Arguments - * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur5_controllers.yaml") - - Config file used for defining the ROS-Control controllers. - - * "**controllers**" (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller") - - Controllers that are activated by default. - - * "**debug**" (default: "false") - - Debug flag that will get passed on to ur_common.launch - - * "**headless_mode**" (default: "false") - - Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot. - - * "**kinematics_config**" (default: "$(find ur_description)/config/ur5_default.yaml") - - Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. - - * "**limited**" (default: "false") - - Use the description in limited mode (Every axis rotates from -PI to PI) - - * "**reverse_port**" (default: "50001") - - Port that will be opened by the driver to allow direct communication between the driver and the robot controller. - - * "**robot_description_file**" (default: "$(find ur_description)/launch/ur5_upload.launch") - - Robot description launch file. - - * "**robot_ip**" (Required) - - IP address by which the robot can be reached. - - * "**script_sender_port**" (default: "50002") - - The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately. - - * "**stopped_controllers**" (default: "pos_traj_controller") - - Controllers that are initally loaded, but not started. - - * "**tf_prefix**" (default: "") - - tf_prefix used for the robot. - -### ur5e_bringup.launch - -Standalone launchfile to startup a ur5e robot. This requires a robot reachable via a network connection. - -#### Arguments - * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur5e_controllers.yaml") - - Config file used for defining the ROS-Control controllers. - - * "**controllers**" (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller") - - Controllers that are activated by default. - - * "**debug**" (default: "false") - - Debug flag that will get passed on to ur_common.launch - - * "**headless_mode**" (default: "false") - - Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot. - - * "**kinematics_config**" (default: "$(find ur_e_description)/config/ur5e_default.yaml") - - Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. - - * "**limited**" (default: "false") - - Use the description in limited mode (Every axis rotates from -PI to PI) - - * "**reverse_port**" (default: "50001") - - Port that will be opened by the driver to allow direct communication between the driver and the robot controller. - - * "**robot_description_file**" (default: "$(find ur_e_description)/launch/ur5e_upload.launch") - - Robot description launch file. - - * "**robot_ip**" (Required) - - IP address by which the robot can be reached. - - * "**script_sender_port**" (default: "50002") - - The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately. - - * "**stopped_controllers**" (default: "pos_traj_controller") - - Controllers that are initally loaded, but not started. - - * "**tf_prefix**" (default: "") - - tf_prefix used for the robot. - - * "**tool_baud_rate**" (default: "115200") - - Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_device_name**" (default: "/tmp/ttyUR") - - Local device name used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_parity**" (default: "0") - - Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_rx_idle_chars**" (default: "1.5") - - Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_stop_bits**" (default: "1") - - Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_tcp_port**" (default: "54321") - - Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true. - - * "**tool_tx_idle_chars**" (default: "3.5") - - Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_voltage**" (default: "0") - - Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true. - - * "**use_tool_communication**" (default: "false") - - On e-Series robots tool communication can be enabled with this argument - -### ur3_bringup.launch - -Standalone launchfile to startup a ur5 robot. This requires a robot reachable via a network connection. - -#### Arguments - * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur3_controllers.yaml") - - Config file used for defining the ROS-Control controllers. - - * "**controllers**" (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller") - - Controllers that are activated by default. - - * "**debug**" (default: "false") - - Debug flag that will get passed on to ur_common.launch - - * "**headless_mode**" (default: "false") - - Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot. - - * "**kinematics_config**" (default: "$(find ur_description)/config/ur3_default.yaml") - - Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. - - * "**limited**" (default: "false") - - Use the description in limited mode (Every axis rotates from -PI to PI) - - * "**reverse_port**" (default: "50001") - - Port that will be opened by the driver to allow direct communication between the driver and the robot controller. - - * "**robot_description_file**" (default: "$(find ur_description)/launch/ur3_upload.launch") - - Robot description launch file. - - * "**robot_ip**" (Required) - - IP address by which the robot can be reached. - - * "**script_sender_port**" (default: "50002") - - The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately. - - * "**stopped_controllers**" (default: "pos_traj_controller") - - Controllers that are initally loaded, but not started. - - * "**tf_prefix**" (default: "") - - tf_prefix used for the robot. - -### ur10e_bringup.launch - -Standalone launchfile to startup a ur10e robot. This requires a robot reachable via a network connection. - -#### Arguments - * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur10e_controllers.yaml") - - Config file used for defining the ROS-Control controllers. - - * "**controllers**" (default: "joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller") - - Controllers that are activated by default. - - * "**debug**" (default: "false") - - Debug flag that will get passed on to ur_common.launch - - * "**headless_mode**" (default: "false") - - Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot. - - * "**kinematics_config**" (default: "$(find ur_e_description)/config/ur10e_default.yaml") - - Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description. - - * "**limited**" (default: "false") - - Use the description in limited mode (Every axis rotates from -PI to PI) - - * "**reverse_port**" (default: "50001") - - Port that will be opened by the driver to allow direct communication between the driver and the robot controller. - - * "**robot_description_file**" (default: "$(find ur_e_description)/launch/ur10e_upload.launch") - - Robot description launch file. - - * "**robot_ip**" (Required) - - IP address by which the robot can be reached. - - * "**script_sender_port**" (default: "50002") - - The driver will offer an interface to receive the program's URScript on this port. If the robot cannot connect to this port, `External Control` will stop immediately. - - * "**stopped_controllers**" (default: "pos_traj_controller") - - Controllers that are initally loaded, but not started. - - * "**tf_prefix**" (default: "") - - tf_prefix used for the robot. - - * "**tool_baud_rate**" (default: "115200") - - Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_device_name**" (default: "/tmp/ttyUR") - - Local device name used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_parity**" (default: "0") - - Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_rx_idle_chars**" (default: "1.5") - - Number of idle chars in RX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_stop_bits**" (default: "1") - - Number of stop bits used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_tcp_port**" (default: "54321") - - Port on which the robot controller publishes the tool comm interface. Only used, when `use_tool_communication` is set to true. - - * "**tool_tx_idle_chars**" (default: "3.5") - - Number of idle chars in TX channel used for tool communication. Only used, when `use_tool_communication` is set to true. - - * "**tool_voltage**" (default: "0") - - Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true. - - * "**use_tool_communication**" (default: "false") - - On e-Series robots tool communication can be enabled with this argument - -## Nodes -### ur_robot_driver_node - -This is the actual driver node containing the ROS-Control stack. Interfaces documented here refer to the robot's hardware interface. Controller-specific API elements might be present for the individual controllers outside of this package. - -#### Advertised Services - * "**dashboard/add_to_log**" (ur_dashboard_msgs/AddToLog) - - Service to add a message to the robot's log - - * "**dashboard/brake_release**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to release the brakes. If the robot is currently powered off, it will get powered on on the fly. - - * "**dashboard/clear_operational_mode**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - If this service is called the operational mode can again be changed from PolyScope, and the user password is enabled. - - * "**dashboard/close_popup**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Close a (non-safety) popup on the teach pendant. - - * "**dashboard/close_safety_popup**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Close a safety popup on the teach pendant. - - * "**dashboard/connect**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to reconnect to the dashboard server - - * "**dashboard/get_loaded_program**" (ur_dashboard_msgs/GetLoadedProgram) - - Load a robot installation from a file - - * "**dashboard/get_robot_mode**" (ur_dashboard_msgs/GetRobotMode) - - Service to query the current robot mode - - * "**dashboard/get_safety_mode**" (ur_dashboard_msgs/GetSafetyMode) - - Service to query the current safety mode - - * "**dashboard/load_installation**" (ur_dashboard_msgs/Load) - - Load a robot installation from a file - - * "**dashboard/load_program**" (ur_dashboard_msgs/Load) - - Load a robot program from a file - - * "**dashboard/pause**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Pause a running program. - - * "**dashboard/play**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Start execution of a previously loaded program - - * "**dashboard/popup**" (ur_dashboard_msgs/Popup) - - Service to show a popup on the UR Teach pendant. - - * "**dashboard/power_off**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Power off the robot motors - - * "**dashboard/power_on**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Power on the robot motors. To fully start the robot, call 'brake_release' afterwards. - - * "**dashboard/program_running**" (ur_dashboard_msgs/IsProgramRunning) - - Query whether there is currently a program running - - * "**dashboard/program_saved**" (ur_dashboard_msgs/IsProgramSaved) - - Query whether the current program is saved - - * "**dashboard/program_state**" (ur_dashboard_msgs/GetProgramState) - - Service to query the current program state - - * "**dashboard/quit**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Disconnect from the dashboard service. - - * "**dashboard/raw_request**" (ur_dashboard_msgs/RawRequest) - - General purpose service to send arbitrary messages to the dashboard server - - * "**dashboard/restart_safety**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Used when robot gets a safety fault or violation to restart the safety. After safety has been rebooted the robot will be in Power Off. NOTE: You should always ensure it is okay to restart the system. It is highly recommended to check the error log before using this command (either via PolyScope or e.g. ssh connection). - - * "**dashboard/shutdown**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Shutdown the robot controller - - * "**dashboard/stop**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Stop program execution on the robot - - * "**dashboard/unlock_protective_stop**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Dismiss a protective stop to continue robot movements. NOTE: It is the responsibility of the user to ensure the cause of the protective stop is resolved before calling this service. - - * "**hand_back_control**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Calling this service will make the "External Control" program node on the UR-Program return. - - * "**resend_robot_program**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - When in headless mode, this sends the URScript program to the robot for execution. Use this after the program has been interrupted, e.g. by a protective- or EM-stop. - - * "**set_io**" (ur_msgs/SetIO) - - Service to set any of the robot's IOs - - * "**set_speed_slider**" (ur_msgs/SetSpeedSliderFraction) - - Set the speed slider fraction used by the robot's execution. Values should be between 0 and 1. Only set this smaller than 1 if you are using the scaled controllers (as by default) or you know what you're doing. Using this with other controllers might lead to unexpected behaviors. - - * "**zero_ftsensor**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Calling this service will zero the robot's ftsensor. Note: On e-Series robots this will only work when the robot is in remote-control mode. - -#### Parameters - * "**dashboard/receive_timeout**" (Required) - - Timeout after which a call to the dashboard server will be considered failure if no answer has been received. - - * "**hardware_interface/joints**" (Required) - - Names of the joints. Usually, this is given in the controller config file. - - * "**headless_mode**" (Required) - - Start robot in headless mode. This does not require the 'External Control' URCap to be running on the robot, but this will send the URScript to the robot directly. On e-Series robots this requires the robot to run in 'remote-control' mode. - - * "**input_recipe_file**" (Required) - - Path to the file containing the recipe used for requesting RTDE inputs. - - * "**kinematics/hash**" (Required) - - Hash of the calibration reported by the robot. This is used for validating the robot description is using the correct calibration. If the robot's calibration doesn't match this hash, an error will be printed. You can use the robot as usual, however Cartesian poses of the endeffector might be inaccurate. See the "ur_calibration" package on help how to generate your own hash matching your actual robot. - - * "**non_blocking_read**" (default: "false") - - Enables non_blocking_read mode. Should only be used with combined_robot_hw. Disables error generated when read returns without any data, sets the read timeout to zero, and synchronises read/write operations. Enabling this when not used with combined_robot_hw can suppress important errors and affect real-time performance. - - * "**output_recipe_file**" (Required) - - Path to the file containing the recipe used for requesting RTDE outputs. - - * "**reverse_port**" (Required) - - Port that will be opened to communicate between the driver and the robot controller. - - * "**robot_ip**" (Required) - - The robot's IP address. - - * "**script_file**" (Required) - - Path to the urscript code that will be sent to the robot. - - * "**script_sender_port**" (Required) - - The driver will offer an interface to receive the program's URScript on this port. - - * "**tf_prefix**" (default: "") - - Please add description. See hardware_interface.cpp line number: 74 - - - - robot_hw_nh.param("tf_prefix", tf_prefix_, ""); - - * "**tool_baud_rate**" (Required) - - Baud rate used for tool communication. Will be set as soon as the UR-Program on the robot is started. See UR documentation for valid baud rates. Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to TRUE. Then, this parameter is required. - - * "**tool_parity**" (Required) - - Parity used for tool communication. Will be set as soon as the UR-Program on the robot is started. Can be 0 (None), 1 (odd) and 2 (even). Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to TRUE. Then, this parameter is required. - - * "**tool_rx_idle_chars**" (Required) - - Number of idle chars for the RX unit used for tool communication. Will be set as soon as the UR-Program on the robot is started. Valid values: min=1.0, max=40.0 Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to TRUE. Then, this parameter is required. - - * "**tool_stop_bits**" (Required) - - Number of stop bits used for tool communication. Will be set as soon as the UR-Program on the robot is started. Can be 1 or 2. Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to TRUE. Then, this parameter is required. - - * "**tool_tx_idle_chars**" (Required) - - Number of idle chars for the TX unit used for tool communication. Will be set as soon as the UR-Program on the robot is started. Valid values: min=0.0, max=40.0 Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to TRUE. Then, this parameter is required. - - * "**tool_voltage**" (Required) - - Tool voltage that will be set as soon as the UR-Program on the robot is started. Note: This parameter is only evaluated, when the parameter "use_tool_communication" is set to TRUE. Then, this parameter is required. - - * "**use_tool_communication**" (Required) - - Should the tool's RS485 interface be forwarded to the ROS machine? This is only available on e-Series models. Setting this parameter to TRUE requires multiple other parameters to be set,as well. - - * "**servoj_gain**" (default: "2000") - - Specify gain for servoing to position in joint space. A higher gain can sharpen the trajectory. - - * "**servoj_gain**" (default: "0.03") - - Specify lookahead time for servoing to position in joint space. A longer lookahead time can smooth the trajectory. - -#### Published topics - * "**robot_program_running**" ([std_msgs/Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html)) - - Whenever the runtime state of the "External Control" program node in the UR-program changes, a message gets published here. So this is equivalent to the information whether the robot accepts commands from ROS side. - -#### Subscribed topics - * "**script_command**" ([std_msgs/String](http://docs.ros.org/api/std_msgs/html/msg/String.html)) - - Send arbitrary script commands to this topic. Note: On e-Series the robot has to be in remote-control mode. Sending scripts to this will stop program execution unless wrapped in a secondary program: sec myProgram(): set_digital_out(0, True) end - -### dashboard_client - - - -#### Advertised Services - * "**add_to_log**" (ur_dashboard_msgs/AddToLog) - - Service to add a message to the robot's log - - * "**brake_release**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to release the brakes. If the robot is currently powered off, it will get powered on on the fly. - - * "**clear_operational_mode**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - If this service is called the operational mode can again be changed from PolyScope, and the user password is enabled. - - * "**close_popup**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Close a (non-safety) popup on the teach pendant. - - * "**close_safety_popup**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Close a safety popup on the teach pendant. - - * "**connect**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to reconnect to the dashboard server - - * "**get_loaded_program**" (ur_dashboard_msgs/GetLoadedProgram) - - Load a robot installation from a file - - * "**get_robot_mode**" (ur_dashboard_msgs/GetRobotMode) - - Service to query the current robot mode - - * "**get_safety_mode**" (ur_dashboard_msgs/GetSafetyMode) - - Service to query the current safety mode - - * "**load_installation**" (ur_dashboard_msgs/Load) - - Load a robot installation from a file - - * "**load_program**" (ur_dashboard_msgs/Load) - - Load a robot program from a file - - * "**pause**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Pause a running program. - - * "**play**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Start execution of a previously loaded program - - * "**popup**" (ur_dashboard_msgs/Popup) - - Service to show a popup on the UR Teach pendant. - - * "**power_off**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Power off the robot motors - - * "**power_on**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Power on the robot motors. To fully start the robot, call 'brake_release' afterwards. - - * "**program_running**" (ur_dashboard_msgs/IsProgramRunning) - - Query whether there is currently a program running - - * "**program_saved**" (ur_dashboard_msgs/IsProgramSaved) - - Query whether the current program is saved - - * "**program_state**" (ur_dashboard_msgs/GetProgramState) - - Service to query the current program state - - * "**quit**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Disconnect from the dashboard service. - - * "**raw_request**" (ur_dashboard_msgs/RawRequest) - - General purpose service to send arbitrary messages to the dashboard server - - * "**restart_safety**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Used when robot gets a safety fault or violation to restart the safety. After safety has been rebooted the robot will be in Power Off. NOTE: You should always ensure it is okay to restart the system. It is highly recommended to check the error log before using this command (either via PolyScope or e.g. ssh connection). - - * "**shutdown**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Shutdown the robot controller - - * "**stop**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Stop program execution on the robot - - * "**unlock_protective_stop**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Dismiss a protective stop to continue robot movements. NOTE: It is the responsibility of the user to ensure the cause of the protective stop is resolved before calling this service. - -#### Parameters - * "**receive_timeout**" (Required) - - Timeout after which a call to the dashboard server will be considered failure if no answer has been received. - - * "**robot_ip**" (Required) - - The IP address under which the robot is reachable. - -### robot_state_helper - -This node prints the robot- and safety mode to ROS logging and offers an action to set the robot to a specific mode (e.g. for initial startup or recovery after a protective stop or EM-Stop). It should best be started inside the hardware interface's namespace - -#### Service Clients - * "**dashboard/brake_release**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to release the robot's brakes - - * "**dashboard/play**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to start UR program execution on the robot - - * "**dashboard/power_off**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to power off the robot - - * "**dashboard/power_on**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to power on the robot - - * "**dashboard/restart_safety**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to restart safety - - * "**dashboard/stop**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to stop UR program execution on the robot - - * "**dashboard/unlock_protective_stop**" ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html)) - - Service to unlock protective stop - -#### Subscribed topics - * "**robot_mode**" (ur_dashboard_msgs/RobotMode) - - Topic on which the robot_mode is published by the driver - - * "**safety_mode**" (ur_dashboard_msgs/SafetyMode) - - Topic on which the safety is published by the driver - -#### Actions - * "**set_mode**" (ur_dashboard_msgs/SetMode) - - Action server to set the robot into a specific mode (e.g. RUNNING). If desired, program - execution can be stopped before switching modes and/or (re-)started after the robot reached - state RUNNING. - - **Note**: If you use this feature make sure that it is safe to continue program execution. The - robot might start moving again, immediately after this action finishes. - - The 'play' field is only evaluated, when the target mode is RUNNING. - -### tool_communication - -This node is used to start the RS485 tunneling interface on the ROS machine. This requires that the RS485 daemon is running on the robot controller and tool communication is enabled on the robot. - -#### Parameters - * "**~device_name**" (Required) - - By default, socat will create a pty in /dev/pts/N with n being an increasing number. Additionally, a symlink at the given location will be created. Use an absolute path here. - - * "**~robot_ip**" (Required) - - IP address of the robot - diff --git a/ur_robot_driver/doc/architecture_coarse.svg b/ur_robot_driver/doc/architecture_coarse.svg index 8e85f27..f6a2514 100644 --- a/ur_robot_driver/doc/architecture_coarse.svg +++ b/ur_robot_driver/doc/architecture_coarse.svg @@ -205,7 +205,7 @@ - ROS-Driver + Isaac-Driver @@ -229,7 +229,7 @@ - Controllers + URController - speed_scaling - tcp_force - joint_states diff --git a/ur_robot_driver/doc/component_api.md b/ur_robot_driver/doc/component_api.md new file mode 100644 index 0000000..b05c4b8 --- /dev/null +++ b/ur_robot_driver/doc/component_api.md @@ -0,0 +1,203 @@ +# Component api + +This section describes all the codelets part of this driver. + +For each component, the incoming and outgoing message channels and the corresponding +message types are listed. Additionally, all parameters with their names and types +and corresponding default values are explained. + +## UniversalRobots + +The `UniversalRobots` codelet handles the interface between an Isaac application +and the main driver. It is publishing actual robot and IO state and receiving IO +and arm commands. + +### Incoming messages + +- **arm_command** [[CompositeProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#compositeproto)]: +Receives command for arm, parsed based on control mode. + +- **io_command** [[CompositeProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#compositeproto)]: +Receives IO command, to set any of the robot's IOs. + +- **stop_control** [[BooleanProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#booleanproto)]: +Stop control of the robot through Isaac. The boolean flag needs to be true, to stop +control of the robot through Isaac. This will make the "External Control" program +node on the UR-Program return. + +- **resend_control_script** [[BooleanProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#booleanproto)]: +Receives a signal to send the URScript program to the robot for execution, when +the robot is in headless mode. The boolean flag needs to be true, to send the script. +Use this after the program has been interrupted, e.g. by a protective- or EM-stop. + +- **set_speed_slider** [[SpeedSliderProto](../../ur_msg/README.md#SpeedSliderProto)]: +Set the speed slider fraction used by the robot's execution. Values should be between +0 and 1. Only set this smaller than 1 if you are using the ur_controller or you +know what you're doing. Using this with other controllers might lead to unexpected +behaviors. + +### Outgoing messages + +- **arm_state** [[CompositeProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#compositeproto)]: +Current state of the arm, includes joint angles, joint speeds and current speed fraction. + +- **io_state** [[CompositeProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#compositeproto)]: +Current IO, includes digital inputs and outputs. + +- **robot_program_running** [[BooleanProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#booleanproto)]: +Whenever the runtime state of the "External Control" program node in the UR-program +changes a message gets published. So this is equivalent to the information whether +the robot accepts commands from Isaac side. + +- **trajectory** [[CompositeProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#compositeproto)]: +Publish a trajectory to the controller to make sure the robots stays in the same +position. The trajectory is published everytime "External Control" program node +starts running. This is used to make sure that the newest trajectory, is based upon +the robots current position when Isaac starts controlling the robot. + +### Parameters + +- **kinematic_tree** [std::string] [default=]: Name of the node containing the map:KinematicTree +component. This is used to obtain the names of the joints for parsing/creating +composite message. + +- **controller** [std::string] [default=]: Name of the node containing the controller +component. This node is started and stopped based upon the drivers control status +of the robot. + +- **dashboard_client** [std::string] [default=]: Name of the node containing the +DashboardClientIsaac component This is used to start the node and set the ip address. +Nothing will happen if this parameter is kept empty. + +- **control_mode** [ArmControlMode] [default = kJointPosition]: Set control mode +for arm. Use "joint position" or "joint speed" to specify wheter the control mode +should be joint positions or joint speeds. + +- **misc_names** [std::vector\] [default = std::vector\({ +"timestamp", "speed_fraction" })]: Name of speed_fraction and timestamp used for +creating composite message. + +- **tool_digital_out_names** [std::vector\] [default = std::vector\({ +"tool_digital_out_0", "tool_digital_out_1" })]: Entity name for digital tool output. + +- **tool_digital_in_names** [std::vector\] [default = std::vector\({ +"tool_digital_in_0", "tool_digital_in_1" })]: Entity name for digital tool input. + +#### Driver settings + +These are parameters parsed forward to the UrDriver object, which is created, during +startup of this codelet. + +- **robot_ip** [std::string] [default=]: Ip address of the robot. + +- **control_script_program** [std::string] [default = "packages/universal_robots/ur_robot_driver/resources/ros_control.urscript"]: +URScript file that is sent to the robot. + +- **rtde_input_recipe** [std::string] [default = "packages/universal_robots/ur_robot_driver/resources/rtde_input_recipe.txt"]: +Filename where the input recipe is stored in. + +- **rtde_output_recipe** [std::string] [default = ""packages/universal_robots/ur_robot_driver/resources/rtde_output_recipe.txt"]: +Filename where the output recipe is stored in. + +- **headless_mode** [bool] [default = false]: Parameter to control if the driver +should be started in headless mode. + +- **servoj_gain** [double] [default = 2000]: Specify gain for servoing to position +in joint space. A higher gain can sharpen the trajectory. + +- **servoj_lookahead_time** [double] [default = 0.03]: Specify lookahead time for +servoing to position in joint space. A longer lookahead time can smooth the trajectory. + +## DashboardClientIsaac + +The `dashboardClientIsaac` class is the interface between the dashboardserver and +an Isaac application. Almost all the dashboard commands can be sent through this +codelet to the dashboardserver and this codelet, will return the anwser to the application. + +If you use this codelet together with the UniversalRobots codelet, the node containing +this codelet can be started through the UniversalRobots codelet, this is done so +you only have to set the robots ip once. See this [subgraph](../apps/ur_eseries_robot.subgraph.json) +for inspiration. + +### Incoming messages + +- **dashboard_command** [[DashboardCommandProto](../../ur_msg/README.md#DashboardCommandProto)]: +Receiving the dashboard command, which is forwarded to the dashboard server. + +### Outgoing messages + +- **anwser** [[DashboardCommandStatusProto](../../ur_msg/README.md#DashboardCommandStatusProto)]: +Channel to publish the anwser from the dashbordserver and whether the command was +a succes. + +### Parameters + +- **robot_ip** [std::string] [default=]: The ip address of the robot. + +## ScaledMultiJointController + +The ScaledMultiJointController class receives a trajectory and calculates the actual +joint command to publish each iteration. It slows down trajectory execution according +to the actual speedscaling of the robot. + +### Incoming messages +- **current_arm_state** [[CompositeProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#compositeproto)]: +Receives current state of the robot arm, this also includes the actual speedscaling. + +- **plan** [[CompositeProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#compositeproto)]: +Receives a plan that contains a trajectory for each joint. If linear interpolation +is configured the trajectory must contain joint position. If cubic interpolation +is configured the trajectory must contain joint position and joint speeds. If quintic +interpolation is configured the trajectory must contain joint positions, joint speeds +and joint accelerations. + +### Outgoing messages + +- **joint_command** [[CompositeProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#compositeproto)]: +Publishes the actual joint command as joint position or joint speeds based upon control_mode. + +- **trajectory_executed_succesfully** [[BooleanProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#booleanproto)]: +Publishes the status after a trajectory has been executed. The flag will be true +if the joints are within the tolerance after trajectory execution and false otherwise. + +### Parameters + +- **kinematic_tree** [std::string] [default=]: Name of the node containing the map:KinematicTree +component. This is used to obtain the names of the joints for parsing/creating +composite message. + +- **interpolation_scheme** [InterpolationScheme] [default=quintic_interpolation]: +Set the interpolation scheme used to calculate joint commands and parse joint trajectory. + +- **control_mode** [ArmControlMode] [default=kJointPosition]: Set the control mode. +Use "joint position" or "joint speed" to specify wheter the control mode should be +joint positions or joint speeds. + +- **goal_time** [double] [default = 0.0]: Time after the last waypoint in the trajectory +is published and until the joints should be within the tolerance. + +- **tolerance** [double] [default = 0.0]: Tolerance for arrival. The trajectory +is completed when the error for all joints are below this tolerance after the last +waypoint in the trajectory is published. If the tolerance is 0.0, no check will +be made. + +- **gains** [nlohmann::json] [default=(nlohmann::json{{"gains", {}}})]: PID gains +for each joint, when control mode is kJointSpeed. + +## ControllerStopper + +ControllerStopper class is a small helper component that stops and restarts the +controller based on a boolean message. When the message goes to false, the controller +is stopped. If message returns to true the stopped controller is restarted. This +component is automatically started inside the driver. + +### Incoming messages + +- **robot_program_running** [[BooleanProto](https://docs.nvidia.com/isaac/isaac/doc/doc/message_api.html#booleanproto)]: +Receives the robots running state. + +### Parameters + +- **controller** [std::string] [default=]: Name of the node containing the controller +node that is sending targets to the driver. This node is started and stopped based +upon the drivers control status of the robot. diff --git a/ur_robot_driver/doc/features.md b/ur_robot_driver/doc/features.md deleted file mode 100644 index 62628e5..0000000 --- a/ur_robot_driver/doc/features.md +++ /dev/null @@ -1,34 +0,0 @@ -# Feature comparison and roadmap - -| Feature | ur_modern_driver | this_driver | -| --- | --- | --- | -| position-based control | yes | yes | -| scaled position-based control | - | yes | -| velocity-based control | yes | planned | -| reporting of tcp wrench | yes | yes | -| reporting of tcp wrench in tcp link | - | yes | -| pausing of programs | - | yes | -| continue trajectories after EM-Stop resume | - | yes | -| continue trajectories after protective stop | - | yes | -| panel interaction in between possible | no1 | yes | -| get and set IO states | yes | yes | -| use tool communication on e-series | - | yes | -| use the driver without a teach pendant necessary | - | yes | -| support of CB2 robots | yes | - | -| trajectory extrapolation on robot on missing packages | no2 | yes | -| use ROS as drop-in for TP-programs | - | yes | -| extract calibration from robot | - | yes | -| send custom script commands to robot | yes | yes | -| ROS 2 support | ? | (planned)3 | -| Reconnect on a disconnected robot | yes | yes | - -1 Depending on the mode the driver is running the panel won't react or using the panel -will stop the program without notifying the ROS user. - -2 In velocity mode this is implicitly given. - -3 There is no specific plan to do this inside of the first driver development. 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zRxUvgDEtrdqia6~PkyHxmakueU5a&F-Amn|wui!9UYB7NK(#{+wK2|rb6iqaADCQ! zg|BwluIyH0DRAjt7?Y*9Gi@HGfnmyT{VfB#Bo*9?vpPgR(!=|lRADskJI^KL=j>hj zyNmwj!!W$l8SCZ(mBO7wm!sD{oz5eE*Pb*ry%URSrT*2Gjvc;BRy#$8@A=p2b(PEa ztEVL@<~T5XaxUiwK&GrW?w5Pj0sb$5y_U^|cI0lAsUx0wy*nIjI_UL7d+iJRueT`z zKHPL=bVS9i$46~VhIwt2W2Y2?iKmJ3&!)^3Tg|-Ew4MIJ|w<}?M+_W%r;l~2hkeeE!}=Bh9>s0ryPWX6i;4b|92bzF&#!R{;8T=?Jw>ut(!$~ zX4d$-59x~-=`Jdo{B1u_S@iSQLJt~4%7uNpgToX5|L3wzH{`Bd;?_6cClAJ0q5OwL u&1{M8R^d%LbM6%XeMYX){Ha&}=a38pe3a$i$RT9RL;eRc+#U7+ diff --git a/ur_robot_driver/doc/install_urcap_cb3.md b/ur_robot_driver/doc/install_urcap_cb3.md index f327f1d..e8eb30e 100644 --- a/ur_robot_driver/doc/install_urcap_cb3.md +++ b/ur_robot_driver/doc/install_urcap_cb3.md @@ -1,7 +1,7 @@ # Installing a URCap on a CB3 robot For using the *ur_robot_driver* with a real robot you need to install the -**externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver. +**externalcontrol-1.0.4.urcap** which can be found inside the **resources** folder of this driver. **Note**: For installing this URCap a minimal PolyScope version of 3.7 is necessary. @@ -15,7 +15,7 @@ screen. There, click the little plus sign at the bottom to open the file selector. There you should see all urcap files stored inside the robot's programs folder or a plugged USB drive. Select and open -the **externalcontrol-1.0.urcap** file and click *open*. Your URCaps view should now show the +the **externalcontrol-1.0.4.urcap** file and click *open*. Your URCaps view should now show the **External Control** in the list of active URCaps and a notification to restart the robot. Do that now. diff --git a/ur_robot_driver/doc/install_urcap_e_series.md b/ur_robot_driver/doc/install_urcap_e_series.md index 078006f..17e2b7b 100644 --- a/ur_robot_driver/doc/install_urcap_e_series.md +++ b/ur_robot_driver/doc/install_urcap_e_series.md @@ -1,7 +1,7 @@ -# Installing a URCap on a s-Series robot +# Installing a URCap on a e-Series robot For using the *ur_robot_driver* with a real robot you need to install the -**externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver. +**externalcontrol-1.0.4.urcap** which can be found inside the **resources** folder of this driver. **Note**: For installing this URCap a minimal PolyScope version of 5.1 is necessary. @@ -14,7 +14,7 @@ On the welcome screen click on the hamburger menu in the top-right corner and se There, click the little plus sign at the bottom to open the file selector. There you should see all urcap files stored inside the robot's programs folder or a plugged USB drive. Select and open -the **externalcontrol-1.0.urcap** file and click *open*. Your URCaps view should now show the +the **externalcontrol-1.0.4.urcap** file and click *open*. Your URCaps view should now show the **External Control** in the list of active URCaps and a notification to restart the robot. Do that now. @@ -26,7 +26,14 @@ For this select *Program Robot* on the welcome screen, select the *Installation* ![Installation screen of URCaps](initial_setup_images/es_07_installation_excontrol.png) -Here you'll have to setup the IP address of the external PC which will be running the ROS driver. +Here you'll have to setup the IP address of the external PC which will be running the Isaac driver. + +To find the IP address of the Isaac machine the following command can be used. + +```bash +$ ip addr +``` + Note that the robot and the external PC have to be in the same network, ideally in a direct connection with each other to minimize network disturbances. The custom port should be left untouched for now. diff --git a/ur_robot_driver/doc/real_time.md b/ur_robot_driver/doc/real_time.md deleted file mode 100644 index 1d73f34..0000000 --- a/ur_robot_driver/doc/real_time.md +++ /dev/null @@ -1,282 +0,0 @@ -# Setting up Ubuntu with a PREEMPT_RT kernel -In order to run the `universal_robot_driver`, we highly recommend to setup a ubuntu system with -real-time capabilities. Especially with a robot from the e-Series the higher control frequency -might lead to non-smooth trajectory execution if not run using a real-time-enabled system. - -You might still be able to control the robot using a non-real-time system. This is, however, not recommended. - -To get real-time support into a ubuntu system, the following steps have to be performed: - 1. Get the sources of a real-time kernel - 2. Compile the real-time kernel - 3. Setup user privileges to execute real-time tasks - -This guide will help you setup your system with a real-time kernel. - -## Preparing -To build the kernel, you will need a couple of tools available on your system. You can install them -using - -``` bash -$ sudo apt-get install build-essential bc ca-certificates gnupg2 libssl-dev wget gawk -``` - -Before you download the sources of a real-time-enabled kernel, check the kernel version that is currently installed: - -```bash -$ uname -r -4.15.0-62-generic -``` - -To continue with this tutorial, please create a temporary folder and navigate into it. You should -have sufficient space (around 25GB) there, as the extracted kernel sources take much space. After -the new kernel is installed, you can delete this folder again. - -In this example we will use a temporary folder inside our home folder: - -```bash -$ mkdir -p ${HOME}/rt_kernel_build -$ cd ${HOME}/rt_kernel_build -``` - -All future commands are expected to be run inside this folder. If the folder is different, the `$` -sign will be prefixed with a path relative to the above folder. - -## Getting the sources for a real-time kernel -To build a real-time kernel, we first need to get the kernel sources and the real-time patch. - -First, we must decide on the kernel version that we want to use. Above, we -determined that our system has a 4.15 kernel installed. However, real-time -patches exist only for selected kernel versions. Those can be found on the -[linuxfoundation wiki](https://wiki.linuxfoundation.org/realtime/preempt_rt_versions). - -In this example, we will select a 4.14 kernel. Select a kernel version close to the -one installed on your system. - -Go ahead and download the kernel sources, patch sources and their signature files: - -```bash -$ wget https://cdn.kernel.org/pub/linux/kernel/projects/rt/4.14/patch-4.14.139-rt66.patch.xz -$ wget https://cdn.kernel.org/pub/linux/kernel/projects/rt/4.14/patch-4.14.139-rt66.patch.sign -$ wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.14.139.tar.xz -$ wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.14.139.tar.sign -``` - -To unzip the downloaded files do -```bash -$ xz -d patch-4.14.139-rt66.patch.xz -$ xz -d linux-4.14.139.tar.xz -``` - -### Verification -Technically, you can skip this section, it is however highly recommended to verify the file -integrity of such a core component of your system! - -To verify file integrity, you must first import public keys by the kernel developers and the patch -author. For the kernel sources use (as suggested on -[kernel.org](https://www.kernel.org/signature.html)) - -```bash -$ gpg2 --locate-keys torvalds@kernel.org gregkh@kernel.org -``` - -and for the patch search for a key of the author listed on -[linuxfoundation wiki](https://wiki.linuxfoundation.org/realtime/preempt_rt_versions). - -```bash -$ gpg2 --keyserver hkp://keys.gnupg.net --search-keys zanussi -gpg: data source: http://51.38.91.189:11371 -(1) German Daniel Zanussi - 4096 bit RSA key 0x537F98A9D92CEAC8, created: 2019-07-24, expires: 2023-07-24 -(2) Michael Zanussi - 4096 bit RSA key 0x7C7F76A2C1E3D9EB, created: 2019-05-08 -(3) Tom Zanussi - Tom Zanussi - Tom Zanussi - 4096 bit RSA key 0xDE09826778A38521, created: 2017-12-15 -(4) Riccardo Zanussi - 2048 bit RSA key 0xD299A06261D919C3, created: 2014-08-27, expires: 2018-08-27 (expired) -(5) Zanussi Gianni - 1024 bit DSA key 0x78B89CB020D1836C, created: 2004-04-06 -(6) Michael Zanussi - Michael Zanussi - Michael Zanussi - Michael Zanussi - 1024 bit DSA key 0xB3E952DCAC653064, created: 2000-09-05 -(7) Michael Zanussi - 1024 bit DSA key 0xEB10BBD9BA749318, created: 1999-05-31 -(8) Michael B. Zanussi - 1024 bit DSA key 0x39EE4EAD7BBB1E43, created: 1998-07-16 -Keys 1-8 of 8 for "zanussi". Enter number(s), N)ext, or Q)uit > 3 -``` - -Now we can verify the downloaded sources: -```bash -$ gpg2 --verify linux-4.14.139.tar.sign -gpg: assuming signed data in 'linux-4.14.139.tar' -gpg: Signature made Fr 16 Aug 2019 10:15:17 CEST -gpg: using RSA key 647F28654894E3BD457199BE38DBBDC86092693E -gpg: Good signature from "Greg Kroah-Hartman " [unknown] -gpg: WARNING: This key is not certified with a trusted signature! -gpg: There is no indication that the signature belongs to the owner. -Primary key fingerprint: 647F 2865 4894 E3BD 4571 99BE 38DB BDC8 6092 693E - -$ gpg2 --verify patch-4.14.139-rt66.patch.sign -gpg: assuming signed data in 'patch-4.14.139-rt66.patch' -gpg: Signature made Fr 23 Aug 2019 21:09:20 CEST -gpg: using RSA key 0x0129F38552C38DF1 -gpg: Good signature from "Tom Zanussi " [unknown] -gpg: aka "Tom Zanussi " [unknown] -gpg: aka "Tom Zanussi " [unknown] -gpg: WARNING: This key is not certified with a trusted signature! -gpg: There is no indication that the signature belongs to the owner. -Primary key fingerprint: 5BDF C45C 2ECC 5387 D50C E5EF DE09 8267 78A3 8521 - Subkey fingerprint: ACF8 5F98 16A8 D5F0 96AE 1FD2 0129 F385 52C3 8DF1 -``` - -## Compilation -Before we can compile the sources, we have to extract the tar archive and apply the patch - -```bash -$ tar xf linux-4.14.139.tar -$ cd linux-4.14.139 -linux-4.14.139$ xzcat ../patch-4.14.139-rt66.patch.xz | patch -p1 -``` - -Now to configure your kernel, just type -```bash -linux-4.14.139$ make oldconfig -``` - -This will ask for kernel options. For everything else then the `Preemption Model` use the default -value (just press Enter) or adapt to your preferences. For the preemption model select `Fully Preemptible Kernel`: - -```bash -Preemption Model - 1. No Forced Preemption (Server) (PREEMPT_NONE) -> 2. Voluntary Kernel Preemption (Desktop) (PREEMPT_VOLUNTARY) - 3. Preemptible Kernel (Low-Latency Desktop) (PREEMPT__LL) (NEW) - 4. Preemptible Kernel (Basic RT) (PREEMPT_RTB) (NEW) - 5. Fully Preemptible Kernel (RT) (PREEMPT_RT_FULL) (NEW) -choice[1-5]: 5 -``` - -Now you can build the kernel. This will take some time... - -```bash -linux-4.14.139$ make -j `getconf _NPROCESSORS_ONLN` deb-pkg -``` - -After building, install the `linux-headers` and `linux-image` packages in the parent folder (only -the ones without the `-dbg` in the name) - -```bash -linux-4.14.139$ sudo apt install ../linux-headers-4.14.139-rt66_*.deb ../linux-image-4.14.139-rt66_*.deb -``` - -## Setup user privileges to use real-time scheduling -To be able to schedule threads with user privileges (what the driver will do) you'll have to change -the user's limits by changing `/etc/security/limits.conf` (See [the manpage](https://manpages.ubuntu.com/manpages/bionic/man5/limits.conf.5.html) for details) - -We recommend to setup a group for real-time users instead of writing a fixed username into the config -file: - -```bash -$ sudo groupadd realtime -$ sudo usermod -aG realtime $(whoami) -``` - -Then, make sure `/etc/security/limits.conf` contains -``` -@realtime soft rtprio 99 -@realtime soft priority 99 -@realtime soft memlock 102400 -@realtime hard rtprio 99 -@realtime hard priority 99 -@realtime hard memlock 102400 -``` - -Note: You will have to log out and log back in (Not only close your terminal window) for these -changes to take effect. No need to do this now, as we will reboot later on, anyway. - -## Setup GRUB to always boot the real-time kernel -To make the new kernel the default kernel that the system will boot into every time, you'll have to -change the grub config file inside `/etc/default/grub`. - -Note: This works for ubuntu, but might not be working for other linux systems. It might be necessary -to use another menuentry name there. - -But first, let's find out the name of the entry that we will want to make the default. You can list -all available kernels using - -```bash -$ awk -F\' '/menuentry |submenu / {print $1 $2}' /boot/grub/grub.cfg - -menuentry Ubuntu -submenu Advanced options for Ubuntu - menuentry Ubuntu, with Linux 4.15.0-62-generic - menuentry Ubuntu, with Linux 4.15.0-62-generic (recovery mode) - menuentry Ubuntu, with Linux 4.15.0-60-generic - menuentry Ubuntu, with Linux 4.15.0-60-generic (recovery mode) - menuentry Ubuntu, with Linux 4.15.0-58-generic - menuentry Ubuntu, with Linux 4.15.0-58-generic (recovery mode) - menuentry Ubuntu, with Linux 4.14.139-rt66 - menuentry Ubuntu, with Linux 4.14.139-rt66 (recovery mode) -menuentry Memory test (memtest86+) -menuentry Memory test (memtest86+, serial console 115200) -menuentry Windows 7 (on /dev/sdc2) -menuentry Windows 7 (on /dev/sdc3) -``` - -From the output above, we'll need to generate a string with the pattern `"submenu_name>entry_name"`. In our case this would be - -``` -"Advanced options for Ubuntu>Ubuntu, with Linux 4.14.139-rt66" -``` -**The double quotes and no spaces around the `>` are important!** - -With this, we can setup the default grub entry and then update the grub menu entries. Don't forget this last step! - -```bash -$ sudo sed -i 's/^GRUB_DEFAULT=.*/GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 4.14.139-rt66"/' /etc/default/grub -$ sudo update-grub -``` - -## Reboot the PC -After having performed the above mentioned steps, reboot the PC. It should boot into the correct -kernel automatically. - -## Check for preemption capabilities -Make sure that the kernel does indeed support real-time scheduling: - -```bash -$ uname -v | cut -d" " -f1-4 -#1 SMP PREEMPT RT -``` - -## Optional: Disable CPU speed scaling -Many modern CPUs support changing their clock frequency dynamically depending on the currently -requested computation resources. In some cases this can lead to small interruptions in execution. -While the real-time scheduled controller thread should be unaffected by this, any external -components such as a visual servoing system might be interrupted for a short period on scaling -changes. - -To check and modify the power saving mode, install cpufrequtils: -```bash -$ sudo apt install cpufrequtils -``` - -Run `cpufreq-info` to check available "governors" and the current CPU Frequency (`current CPU -frequency is XXX MHZ`). In the following we will set the governor to "performance". - -```bash -$ sudo systemctl disable ondemand -$ sudo systemctl enable cpufrequtils -$ sudo sh -c 'echo "GOVERNOR=performance" > /etc/default/cpufrequtils' -$ sudo systemctl daemon-reload && sudo systemctl restart cpufrequtils -``` - -This disables the `ondemand` CPU scaling daemon, creates a `cpufrequtils` config file and restarts -the `cpufrequtils` service. Check with `cpufreq-info`. - -For further information about governors, please see the [kernel -documentation](https://www.kernel.org/doc/Documentation/cpu-freq/governors.txt). diff --git a/ur_robot_driver/doc/rosdoc.yaml b/ur_robot_driver/doc/rosdoc.yaml deleted file mode 100644 index d27dced..0000000 --- a/ur_robot_driver/doc/rosdoc.yaml +++ /dev/null @@ -1,4 +0,0 @@ -- builder: doxygen - name: C++ API - output_dir: c++ - file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' diff --git a/ur_robot_driver/doc/sample_applications.md b/ur_robot_driver/doc/sample_applications.md new file mode 100644 index 0000000..a71fd7a --- /dev/null +++ b/ur_robot_driver/doc/sample_applications.md @@ -0,0 +1,177 @@ +# How to run the sample applications + +This tutorial explains how to start the sample applications. Before launching any +application make sure you are placed inside the `isaac/sdk` folder, see [Nvidias +documentation](https://docs.nvidia.com/isaac/isaac/doc/getting_started.html). + +When running any of the below applications you will see +the following error message in the terminal. + +```bash +2021-04-29 13:07:32.825 ERROR packages/universal_robots/ur_client_library/src/ur/calibration_checker.cpp@50: "The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] for details". +``` + +This error message should just be ignored as the calibration feature is not implemented +in the Isaac driver. The driver works perfectly fine despite this error message. + +## Polyscope + +Start by preparing the robot for external control. If you are planning on using +[headless_mode](../README.md#Headless-mode) you can skip this step of the tutorial. + +1. For using the *ur_robot_driver* with none headless mode you need to install the +**externalcontrol-1.0.5.urcap** which can be found inside the [**resources**](../resources/) +folder of this driver. + +2. For installing the necessary URCap and creating a program, please see the individual +tutorials on how to [setup a CB3 robot](ur_robot_driver/doc/install_urcap_cb3.md) +or how to [setup an e-Series robot](ur_robot_driver/doc/install_urcap_e_series.md). + +3. After installing the URCap you should have a Program on your robot looking something +like this. + + ![Program view of external control](initial_setup_images/es_11_program_view_excontrol.png) + +4. Now you are all set to start the applications. + +Once any of the below applications are running you can start the robot program with +loaded URCap. From that moment on the robot is fully functional. You can make use +of the Pause function or even Stop the program. Simply press the Play button +again and the ISAAC driver will reconnect. + +Inside the Application terminal running the driver you should see the output `Robot +ready to receive control commands.` + +## Simple joint control + +This applications starts a jupyter notebook in which you can control the robots joints or the robots tool IO. + +1. Start by launching the application on the isaac side. Remember that You have +to stand in the `isaac/sdk` folder to launch the application. + + ```bash + $ bazel run packages/universal_robots/apps:simple_joint_control + ``` + + This should open a jupyter notebook in your browser looking something like this: + + ![](./tutorial/notebook_after_running.png) + +2. The notebook is divided into different cells, that can be run individually. +The cells can be run by using the run button in the top of the notebook. Start by +running the first two cells. Which imports the nescerray functionality. + +3. Next we need to update the IP address on which the Isaac PC can reach the robot. +We also need to update generation to the robot generation that we are +controlling with Isaac, version types are *e-series or cb3*. The IP and generation +can be updated in the bottom of cell 3 see image below. + + ![](./tutorial/cell_3.png) + +4. After updating the IP and generation we can run the third cell by using the run +button. + +5. Cell 4 will start the application. An image for the cell can be seen below: + + ![](./tutorial/cell_4.png) + + **NOTE** Before running the cell you + need to update headless_mode configuration to enabled if you didn't install + the URCap on the robot. This can be done by changing the *ur_driver.config.headless_mode* + to true see image above. Same strategy can be used to update other configuration + parameters for the different components in the application. + +6. Now you are ready to launch the application by running cell 4. + + **NOTE** If you activated + *headless_mode* make sure the robot is powered and running and if you are using + *e-series* that the robot is in remote control. + + After running you should see a panel of 6 sliders, which can be used to control + each joint individually. And you should see the below terminal output. + + ```bash + 2021-04-29 09:28:48.354 INFO packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@159: Waiting to receive the first RTDE data + + 2021-04-29 09:28:48.362 INFO packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@162: First RTDE data received + + 2021-04-29 09:28:48.362 INFO packages/universal_robots/ur_client_library/src/ur/dashboard_client.cpp@49: Connected: Universal Robots Dashboard Server + + ``` + +7. If you didn't activate *headless_mode*, you should start the robot program loaded +on the robot with the URCap after starting the program you should see a terminal +output similar to the one below. + + ```bash + 2021-04-29 09:43:39.921 INFO packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@85: Robot requested program + + 2021-04-29 09:43:39.921 INFO packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@98: Sent program to robot + + 2021-04-29 09:43:39.934 INFO packages/universal_robots/ur_client_library/include/ur_client_library/comm/reverse_interface.h@145: Robot connected to reverse interface. Ready to receive control commands. + ``` + + Once you have seen the following terminal output `Robot connected to reverse interface. Ready to receive control commands.` You should be able to control the robots joints. + + Now you can control each joint individually with the slider panel. + + To stop the application again you can run cell 5. + +8. If you want to control the IO's instead of the joints, you can run cell 6 instead +of cell 4. Remember to stop the application between running cell 4 and cell 6. This +can be done by running cell 5 or cell 7. + + After running cell 6 you will see an slider panel, which can be used to control + the robots tool IO. + + **NOTE** The robot program with URCap doesn't have to be running on the robot + in order to control the IO's. + +## Shuffle box hardware + +This application repetitively moves between +two preset waypoints. This app assumes a vacuum pump is connected through the digital +io interfaces. Make sure to update the waypoints based on the +actual setup, and make sure the path between the waypoints are obstacle-free. + +Make sure that you have prepared the robot as stated [above](#polyscope). + +1. If you plan on using *headless_mode* make sure the robot is powered on and running. +Also if you are using *e-series* make sure that the robot is in remote control. + +2. Start by running the application with the following command. + + ```bash + $ bazel run packages/universal_robots/apps:shuffle_box_hardware -- --robot_ip "192.168.56.1" --generation "e-series" --headless_mode false + ``` + + For the parameter + robot_ip insert the IP address on which the Isaac application + can reach the robot. Remember to update generation according to the robot generation + that you are using, generation is one of *e-series or cb3*. The last argument + can be used to enable [headless_mode](ur_robot_driver/README.md#headless-mode) + or not. + + After running the above command you should see the following output in the terminal. + + ```bash + 2021-04-29 09:28:48.354 INFO packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@159: Waiting to receive the first RTDE data + + 2021-04-29 09:28:48.362 INFO packages/universal_robots/ur_robot_driver/UniversalRobots.cpp@162: First RTDE data received + + 2021-04-29 09:28:48.362 INFO packages/universal_robots/ur_client_library/src/ur/dashboard_client.cpp@49: Connected: Universal Robots Dashboard Server + ``` + +3. If you didn't activate *headless_mode*, you should start the robot program with +the URCap and you should see a terminal output similar to the one below. + + ```bash + 2021-04-29 09:43:39.921 INFO packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@85: Robot requested program + + 2021-04-29 09:43:39.921 INFO packages/universal_robots/ur_client_library/include/ur_client_library/comm/script_sender.h@98: Sent program to robot + + 2021-04-29 09:43:39.934 INFO packages/universal_robots/ur_client_library/include/ur_client_library/comm/reverse_interface.h@145: Robot connected to reverse interface. Ready to receive control commands. + ``` + + Once you have seen the log message `Robot connected to reverse interface. Ready + to receive control commands.` the robot should start moving between the waypoints. diff --git a/ur_robot_driver/doc/setup_tool_communication.md b/ur_robot_driver/doc/setup_tool_communication.md deleted file mode 100644 index d4aeeea..0000000 --- a/ur_robot_driver/doc/setup_tool_communication.md +++ /dev/null @@ -1,48 +0,0 @@ -# Setting up the tool communication on an e-Series robot -The Universal Robots e-Series provides an rs485 based interface at the tool flange that can be used -to attach an rs485-based device to the robot's tcp without the need to wire a separate cable along -the robot. - -This driver enables forwarding this tool communication interface to an external machine for example -to start a device's ROS driver on a remote PC. - -This document will guide you through installing the URCap needed for this and setting up your ROS -launch files to utilize the robot's tool communication. - -## Robot setup -For setting up the robot, please install the **rs485-1.0.urcap** found in the **resources** folder. -Installing a URCap is explained in the [setup guide](install_urcap_e_series.md) for the **external-control** URCap. - -After installing the URCap the robot will expose its tool communication device to the network. - -## Setup the ROS side -In order to use the tool communication in ROS, simply pass the correct parameters to the bringup -launch files: - -```bash -$ roslaunch ur_robot_driver ur<3|5|10>e_bringup.launch \ - use_tool_communication:=true \ - tool_voltage:=24 \ # can be 0, 12 or 24 - tool_parity:=0 \ # 0: none, 1: odd, 2: even - tool_baud_rate:=115200 \ - tool_stop_bits:=1 \ - tool_rx_idle_chars:=1.5 \ - tool_tx_idle_chars:=3.5 \ - tool_device_name:=/tmp/ttyUR # remember that your user needs to have the rights to write that file handle -``` - -The `tool_device_name` is an arbitrary name for the device file at which the device will be -accessible in the local file system. Most ROS drivers for rs485 devices accept an argument to -specify the device file path. With the example above you could run the `rs485_node` from the package -`imaginary_drivers` using the following command: - -```bash -$ rosrun imaginary_drivers rs485_node device:=/tmp/ttyUR - -``` - -You can basically choose any device name, but your user has to have the correct rights to actually -create a new file handle inside this directory. Therefore, we didn't use the `/dev` folder in the -example, as users usually don't have the access rights to create new files there. - -For all the other tool parameters seen above, please refer to the Universal Robots user manual. diff --git a/ur_robot_driver/doc/tutorial/cell_3.png b/ur_robot_driver/doc/tutorial/cell_3.png new file mode 100644 index 0000000000000000000000000000000000000000..8826053d5e9eadac17fe73fee24b4d7ec17090af GIT binary patch literal 236105 zcmYJa18`*D*EJloW1AD(wlT47+sVYXIkD}DZQI7g&cuBC_kX^suc~iXb=|&wPoJ~* z+H0?MZlvN*Nd!1tI1msJ1ZgQTWe^Yu3lI>nOBg5+5KwN9^IhNxSVt)>7Z4D{q5lrh zR9Zwl5b(@*X)$3{&+N+_NL_RVyitEi4-XhH8Cp^}V_J6)TKCq7?d|PA;1LlO5tI?( zS|&5t&D)tCa_0{U`aF4JZ{zOn?)Bu6JS*iytq5jnZk{H_Mt6kI&CM;9YHCXN4Fy(Y z<;OU|Hop#f|ojK^o`_Vf=gcECn<=~m; zQi2fn`<5_ispoVJaC$K@_}qY%joWs3I?jH&>7rfW;>NMvhYl$iK^*7bd3lkQ z3FnSJLl56JQj@o6Ko_!5Bh7tz_b5xi+3GG?Wi-Z!{Z7~<>nJhrIfJQdrINx(M%;zo zB#r-l#24(>m}Nx&?Y^bf{+Yx+voTXhAs`HyvjF39yK=1!`XO_?nyLf#2`360K=gkn 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