[JointLimits] Add Saturation Joint Limiter that uses clamping method (#…

…971) --------- Co-authored-by: AndyZe <[email protected]> Co-authored-by: bijoua <[email protected]> Co-authored-by: Guillaume Walck <[email protected]> Co-authored-by: Christoph Fröhlich <[email protected]> Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Manuel M <[email protected]>
ros-controls · Jul 4, 2024 · bb85eae · bb85eae
1 parent f04443f
commit bb85eae
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Showing 12 changed files with 2,002 additions and 14 deletions.
diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt
@@ -7,12 +7,16 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
+ pluginlib
+ realtime_tools
  rclcpp
  rclcpp_lifecycle
+ trajectory_msgs
  urdf
 )
 
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 find_package(ament_cmake_gen_version_h REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
  find_package(${Dependency} REQUIRED)
@@ -26,10 +30,42 @@ target_include_directories(joint_limits INTERFACE
 )
 ament_target_dependencies(joint_limits INTERFACE ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
+add_library(joint_limiter_interface SHARED
+ src/joint_limiter_interface.cpp
+)
+target_compile_features(joint_limiter_interface PUBLIC cxx_std_17)
+target_include_directories(joint_limiter_interface PUBLIC
+ $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include/joint_limits>
+)
+ament_target_dependencies(joint_limiter_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(joint_limiter_interface PRIVATE "JOINT_LIMITS_BUILDING_DLL")
+
+
+add_library(joint_saturation_limiter SHARED
+ src/joint_saturation_limiter.cpp
+)
+target_compile_features(joint_saturation_limiter PUBLIC cxx_std_17)
+target_include_directories(joint_saturation_limiter PUBLIC
+ $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include/joint_limits>
+)
+ament_target_dependencies(joint_saturation_limiter PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(joint_saturation_limiter PRIVATE "JOINT_LIMITS_BUILDING_DLL")
+
+pluginlib_export_plugin_description_file(joint_limits joint_limiters.xml)
 
 if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
+ find_package(ament_cmake_gmock REQUIRED)
+ find_package(generate_parameter_library REQUIRED)
  find_package(launch_testing_ament_cmake REQUIRED)
+ find_package(pluginlib REQUIRED)
+ find_package(rclcpp REQUIRED)
 
  ament_add_gtest_executable(joint_limits_rosparam_test test/joint_limits_rosparam_test.cpp)
  target_link_libraries(joint_limits_rosparam_test joint_limits)
@@ -43,16 +79,31 @@ if(BUILD_TESTING)
  DESTINATION lib/joint_limits
  )
  install(
- FILES test/joint_limits_rosparam.yaml
+ FILES test/joint_limits_rosparam.yaml test/joint_saturation_limiter_param.yaml
  DESTINATION share/joint_limits/test
  )
+
+ add_rostest_with_parameters_gmock(test_joint_saturation_limiter test/test_joint_saturation_limiter.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/test/joint_saturation_limiter_param.yaml
+ )
+ target_include_directories(test_joint_saturation_limiter PRIVATE include)
+ target_link_libraries(test_joint_saturation_limiter joint_limiter_interface)
+ ament_target_dependencies(
+ test_joint_saturation_limiter
+ pluginlib
+ rclcpp
+ )
+
 endif()
 
 install(
  DIRECTORY include/
  DESTINATION include/joint_limits
 )
-install(TARGETS joint_limits
+install(TARGETS
+ joint_limits
+ joint_limiter_interface
+ joint_saturation_limiter
  EXPORT export_joint_limits
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib

diff --git a/joint_limits/include/joint_limits/joint_limiter_interface.hpp b/joint_limits/include/joint_limits/joint_limiter_interface.hpp
@@ -0,0 +1,250 @@
+// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
+//
+// 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.
+
+/// \author Denis Stogl
+
+#ifndef JOINT_LIMITS__JOINT_LIMITER_INTERFACE_HPP_
+#define JOINT_LIMITS__JOINT_LIMITER_INTERFACE_HPP_
+
+#include <string>
+#include <vector>
+
+#include "joint_limits/joint_limits.hpp"
+#include "joint_limits/joint_limits_rosparam.hpp"
+#include "joint_limits/visibility_control.h"
+#include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "realtime_tools/realtime_buffer.h"
+#include "trajectory_msgs/msg/joint_trajectory_point.hpp"
+
+namespace joint_limits
+{
+using JointLimitsStateDataType = trajectory_msgs::msg::JointTrajectoryPoint;
+
+template <typename LimitsType>
+class JointLimiterInterface
+{
+public:
+ JOINT_LIMITS_PUBLIC JointLimiterInterface() = default;
+
+ JOINT_LIMITS_PUBLIC virtual ~JointLimiterInterface() = default;
+
+ /// Initialization of every JointLimiter.
+ /**
+ * Initialization of JointLimiter for defined joints with their names.
+ * Robot description topic provides a topic name where URDF of the robot can be found.
+ * This is needed to use joint limits from URDF (not implemented yet!).
+ * Override this method only if initialization and reading joint limits should be adapted.
+ * Otherwise, initialize your custom limiter in `on_limit` method.
+ *
+ * \param[in] joint_names names of joints where limits should be applied.
+ * \param[in] param_itf node parameters interface object to access parameters.
+ * \param[in] logging_itf node logging interface to log if error happens.
+ * \param[in] robot_description_topic string of a topic where robot description is accessible.
+ */
+ JOINT_LIMITS_PUBLIC virtual bool init(
+ const std::vector<std::string> & joint_names,
+ const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & param_itf,
+ const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr & logging_itf,
+ const std::string & robot_description_topic = "/robot_description")
+ {
+ number_of_joints_ = joint_names.size();
+ joint_names_ = joint_names;
+ joint_limits_.resize(number_of_joints_);
+ node_param_itf_ = param_itf;
+ node_logging_itf_ = logging_itf;
+
+ bool result = true;
+
+ // TODO(destogl): get limits from URDF
+
+ // Initialize and get joint limits from parameter server
+ for (size_t i = 0; i < number_of_joints_; ++i)
+ {
+ if (!declare_parameters(joint_names[i], node_param_itf_, node_logging_itf_))
+ {
+ RCLCPP_ERROR(
+ node_logging_itf_->get_logger(),
+ "JointLimiter: Joint '%s': parameter declaration has failed", joint_names[i].c_str());
+ result = false;
+ break;
+ }
+ if (!get_joint_limits(joint_names[i], node_param_itf_, node_logging_itf_, joint_limits_[i]))
+ {
+ RCLCPP_ERROR(
+ node_logging_itf_->get_logger(),
+ "JointLimiter: Joint '%s': getting parameters has failed", joint_names[i].c_str());
+ result = false;
+ break;
+ }
+ RCLCPP_INFO(
+ node_logging_itf_->get_logger(), "Limits for joint %zu (%s) are:\n%s", i,
+ joint_names[i].c_str(), joint_limits_[i].to_string().c_str());
+ }
+ updated_limits_.writeFromNonRT(joint_limits_);
+
+ auto on_parameter_event_callback = [this](const std::vector<rclcpp::Parameter> & parameters)
+ {
+ rcl_interfaces::msg::SetParametersResult set_parameters_result;
+ set_parameters_result.successful = true;
+
+ std::vector<LimitsType> updated_joint_limits = joint_limits_;
+ bool changed = false;
+
+ for (size_t i = 0; i < number_of_joints_; ++i)
+ {
+ changed |= joint_limits::check_for_limits_update(
+ joint_names_[i], parameters, node_logging_itf_, updated_joint_limits[i]);
+ }
+
+ if (changed)
+ {
+ updated_limits_.writeFromNonRT(updated_joint_limits);
+ RCLCPP_INFO(node_logging_itf_->get_logger(), "Limits are dynamically updated!");
+ }
+
+ return set_parameters_result;
+ };
+
+ parameter_callback_ =
+ node_param_itf_->add_on_set_parameters_callback(on_parameter_event_callback);
+
+ if (result)
+ {
+ result = on_init();
+ }
+
+ (void)robot_description_topic; // avoid linters output
+
+ return result;
+ }
+
+ /**
+ * Wrapper init method that accepts pointer to the Node.
+ * For details see other init method.
+ */
+ JOINT_LIMITS_PUBLIC virtual bool init(
+ const std::vector<std::string> & joint_names, const rclcpp::Node::SharedPtr & node,
+ const std::string & robot_description_topic = "/robot_description")
+ {
+ return init(
+ joint_names, node->get_node_parameters_interface(), node->get_node_logging_interface(),
+ robot_description_topic);
+ }
+
+ /**
+ * Wrapper init method that accepts pointer to the LifecycleNode.
+ * For details see other init method.
+ */
+ JOINT_LIMITS_PUBLIC virtual bool init(
+ const std::vector<std::string> & joint_names,
+ const rclcpp_lifecycle::LifecycleNode::SharedPtr & lifecycle_node,
+ const std::string & robot_description_topic = "/robot_description")
+ {
+ return init(
+ joint_names, lifecycle_node->get_node_parameters_interface(),
+ lifecycle_node->get_node_logging_interface(), robot_description_topic);
+ }
+
+ JOINT_LIMITS_PUBLIC virtual bool configure(const JointLimitsStateDataType & current_joint_states)
+ {
+ return on_configure(current_joint_states);
+ }
+
+ /** \brief Enforce joint limits to desired joint state for multiple physical quantities.
+ *
+ * Generic enforce method that calls implementation-specific `on_enforce` method.
+ *
+ * \param[in] current_joint_states current joint states a robot is in.
+ * \param[in,out] desired_joint_states joint state that should be adjusted to obey the limits.
+ * \param[in] dt time delta to calculate missing integrals and derivation in joint limits.
+ * \returns true if limits are enforced, otherwise false.
+ */
+ JOINT_LIMITS_PUBLIC virtual bool enforce(
+ JointLimitsStateDataType & current_joint_states,
+ JointLimitsStateDataType & desired_joint_states, const rclcpp::Duration & dt)
+ {
+ joint_limits_ = *(updated_limits_.readFromRT());
+ return on_enforce(current_joint_states, desired_joint_states, dt);
+ }
+
+ /** \brief Enforce joint limits to desired joint state for single physical quantity.
+ *
+ * Generic enforce method that calls implementation-specific `on_enforce` method.
+ *
+ * \param[in,out] desired_joint_states joint state that should be adjusted to obey the limits.
+ * \returns true if limits are enforced, otherwise false.
+ */
+ JOINT_LIMITS_PUBLIC virtual bool enforce(std::vector<double> & desired_joint_states)
+ {
+ joint_limits_ = *(updated_limits_.readFromRT());
+ return on_enforce(desired_joint_states);
+ }
+
+protected:
+ /** \brief Method is realized by an implementation.
+ *
+ * Implementation-specific initialization of limiter's internal states and libraries.
+ * \returns true if initialization was successful, otherwise false.
+ */
+ JOINT_LIMITS_PUBLIC virtual bool on_init() = 0;
+
+ /** \brief Method is realized by an implementation.
+ *
+ * Implementation-specific configuration of limiter's internal states and libraries.
+ * \returns true if initialization was successful, otherwise false.
+ */
+ JOINT_LIMITS_PUBLIC virtual bool on_configure(
+ const JointLimitsStateDataType & current_joint_states) = 0;
+
+ /** \brief Method is realized by an implementation.
+ *
+ * Filter-specific implementation of the joint limits enforce algorithm for multiple dependent
+ * physical quantities.
+ *
+ * \param[in] current_joint_states current joint states a robot is in.
+ * \param[in,out] desired_joint_states joint state that should be adjusted to obey the limits.
+ * \param[in] dt time delta to calculate missing integrals and derivation in joint limits.
+ * \returns true if limits are enforced, otherwise false.
+ */
+ JOINT_LIMITS_PUBLIC virtual bool on_enforce(
+ JointLimitsStateDataType & current_joint_states,
+ JointLimitsStateDataType & desired_joint_states, const rclcpp::Duration & dt) = 0;
+
+ /** \brief Method is realized by an implementation.
+ *
+ * Filter-specific implementation of the joint limits enforce algorithm for single physical
+ * quantity.
+ * This method might use "effort" limits since they are often used as wild-card.
+ * Check the documentation of the exact implementation for more details.
+ *
+ * \param[in,out] desired_joint_states joint state that should be adjusted to obey the limits.
+ * \returns true if limits are enforced, otherwise false.
+ */
+ JOINT_LIMITS_PUBLIC virtual bool on_enforce(std::vector<double> & desired_joint_states) = 0;
+
+ size_t number_of_joints_;
+ std::vector<std::string> joint_names_;
+ std::vector<LimitsType> joint_limits_;
+ rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_param_itf_;
+ rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_itf_;
+
+private:
+ rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr parameter_callback_;
+ realtime_tools::RealtimeBuffer<std::vector<LimitsType>> updated_limits_;
+};
+
+} // namespace joint_limits
+
+#endif // JOINT_LIMITS__JOINT_LIMITER_INTERFACE_HPP_