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[SJTC] Make scaling interface optional #1145

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Oct 14, 2024
Merged

[SJTC] Make scaling interface optional #1145

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eeb97ce
[SJTC] Make scaling interface optional
fmauch Oct 12, 2024
b54ca5e
Move logging to function that's only called once
fmauch Oct 14, 2024
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7 changes: 6 additions & 1 deletion ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,8 @@
#ifndef UR_CONTROLLERS__SCALED_JOINT_TRAJECTORY_CONTROLLER_HPP_
#define UR_CONTROLLERS__SCALED_JOINT_TRAJECTORY_CONTROLLER_HPP_

#include <optional>
#include <memory>
#include "angles/angles.h"
#include "joint_trajectory_controller/joint_trajectory_controller.hpp"
#include "joint_trajectory_controller/trajectory.hpp"
Expand Down Expand Up @@ -73,9 +75,12 @@ class ScaledJointTrajectoryController : public joint_trajectory_controller::Join
};

private:
double scaling_factor_{};
double scaling_factor_{ 1.0 };
realtime_tools::RealtimeBuffer<TimeData> time_data_;

std::optional<std::reference_wrapper<hardware_interface::LoanedStateInterface>> scaling_state_interface_ =
std::nullopt;

std::shared_ptr<scaled_joint_trajectory_controller::ParamListener> scaled_param_listener_;
scaled_joint_trajectory_controller::Params scaled_params_;
};
Expand Down
31 changes: 25 additions & 6 deletions ur_controllers/src/scaled_joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,12 @@ controller_interface::CallbackReturn ScaledJointTrajectoryController::on_init()
// Create the parameter listener and get the parameters
scaled_param_listener_ = std::make_shared<scaled_joint_trajectory_controller::ParamListener>(get_node());
scaled_params_ = scaled_param_listener_->get_params();
if (!scaled_params_.speed_scaling_interface_name.empty()) {
RCLCPP_INFO(get_node()->get_logger(), "Using scaling state from the hardware from interface %s.",
scaled_params_.speed_scaling_interface_name.c_str());
} else {
RCLCPP_INFO(get_node()->get_logger(), "No scaling interface set. This controller will not use speed scaling.");
}

return JointTrajectoryController::on_init();
}
Expand All @@ -58,7 +64,10 @@ controller_interface::InterfaceConfiguration ScaledJointTrajectoryController::st
{
controller_interface::InterfaceConfiguration conf;
conf = JointTrajectoryController::state_interface_configuration();
conf.names.push_back(scaled_params_.speed_scaling_interface_name);

if (!scaled_params_.speed_scaling_interface_name.empty()) {
conf.names.push_back(scaled_params_.speed_scaling_interface_name);
}

return conf;
}
Expand All @@ -70,17 +79,27 @@ controller_interface::CallbackReturn ScaledJointTrajectoryController::on_activat
time_data.period = rclcpp::Duration::from_nanoseconds(0);
time_data.uptime = get_node()->now();
time_data_.initRT(time_data);

// Set scaling interfaces
if (!scaled_params_.speed_scaling_interface_name.empty()) {
auto it = std::find_if(state_interfaces_.begin(), state_interfaces_.end(), [&](auto& interface) {
return (interface.get_name() == scaled_params_.speed_scaling_interface_name);
});
if (it != state_interfaces_.end()) {
scaling_state_interface_ = *it;
} else {
RCLCPP_ERROR(get_node()->get_logger(), "Did not find speed scaling interface in state interfaces.");
}
}

return JointTrajectoryController::on_activate(state);
}

controller_interface::return_type ScaledJointTrajectoryController::update(const rclcpp::Time& time,
const rclcpp::Duration& period)
{
if (state_interfaces_.back().get_name() == scaled_params_.speed_scaling_interface_name) {
scaling_factor_ = state_interfaces_.back().get_value();
} else {
RCLCPP_ERROR(get_node()->get_logger(), "Speed scaling interface (%s) not found in hardware interface.",
scaled_params_.speed_scaling_interface_name.c_str());
if (scaling_state_interface_.has_value()) {
scaling_factor_ = scaling_state_interface_->get().get_value();
}

if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
Expand Down