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franka_hw_sim.cpp
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franka_hw_sim.cpp
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#include <franka_gazebo/franka_hw_sim.h>
#include <franka/duration.h>
#include <franka_example_controllers/pseudo_inversion.h>
#include <franka_gazebo/model_kdl.h>
#include <franka_hw/franka_hw.h>
#include <franka_hw/services.h>
#include <franka_msgs/SetEEFrame.h>
#include <franka_msgs/SetForceTorqueCollisionBehavior.h>
#include <franka_msgs/SetKFrame.h>
#include <franka_msgs/SetLoad.h>
#include <gazebo_ros_control/robot_hw_sim.h>
#include <Eigen/Dense>
#include <iostream>
#include <sstream>
#include <string>
namespace franka_gazebo {
bool FrankaHWSim::initSim(const std::string& robot_namespace,
ros::NodeHandle model_nh,
gazebo::physics::ModelPtr parent,
const urdf::Model* const urdf,
std::vector<transmission_interface::TransmissionInfo> transmissions) {
model_nh.param<std::string>("arm_id", this->arm_id_, robot_namespace);
if (this->arm_id_ != robot_namespace) {
ROS_WARN_STREAM_NAMED(
"franka_hw_sim",
"Caution: Robot names differ! Read 'arm_id: "
<< this->arm_id_ << "' from parameter server but URDF defines '<robotNamespace>"
<< robot_namespace << "</robotNamespace>'. Will use '" << this->arm_id_ << "'!");
}
this->robot_ = parent;
#if GAZEBO_MAJOR_VERSION >= 8
gazebo::physics::PhysicsEnginePtr physics = gazebo::physics::get_world()->Physics();
#else
gazebo::physics::PhysicsEnginePtr physics = gazebo::physics::get_world()->GetPhysicsEngine();
#endif
ROS_INFO_STREAM_NAMED("franka_hw_sim", "Using physics type " << physics->GetType());
// Generate a list of franka_gazebo::Joint to store all relevant information
for (const auto& transmission : transmissions) {
if (transmission.type_ != "transmission_interface/SimpleTransmission") {
continue;
}
if (transmission.joints_.empty()) {
ROS_WARN_STREAM_NAMED("franka_hw_sim",
"Transmission " << transmission.name_ << " has no associated joints.");
return false;
}
if (transmission.joints_.size() > 1) {
ROS_WARN_STREAM_NAMED(
"franka_hw_sim",
"Transmission "
<< transmission.name_
<< " has more than one joint. Currently the franka robot hardware simulation "
<< " interface only supports one.");
return false;
}
// Fill a 'Joint' struct which holds all necessary data
auto joint = std::make_shared<franka_gazebo::Joint>();
joint->name = transmission.joints_[0].name_;
if (urdf == nullptr) {
ROS_ERROR_STREAM_NAMED(
"franka_hw_sim", "Could not find any URDF model. Was it loaded on the parameter server?");
return false;
}
auto urdf_joint = urdf->getJoint(joint->name);
if (not urdf_joint) {
ROS_ERROR_STREAM_NAMED("franka_hw_sim",
"Could not get joint '" << joint->name << "' from URDF");
return false;
}
joint->type = urdf_joint->type;
joint->axis = Eigen::Vector3d(urdf_joint->axis.x, urdf_joint->axis.y, urdf_joint->axis.z);
// Get a handle to the underlying Gazebo Joint
gazebo::physics::JointPtr handle = parent->GetJoint(joint->name);
if (not handle) {
ROS_ERROR_STREAM_NAMED("franka_hw_sim", "This robot has a joint named '"
<< joint->name
<< "' which is not in the gazebo model.");
return false;
}
joint->handle = handle;
this->joints_.emplace(joint->name, joint);
}
// After the joint data containers have been fully initialized and their memory address don't
// change anymore, get the respective addresses to pass them to the handles
for (auto& pair : this->joints_) {
initJointStateHandle(pair.second);
}
// Register all supported command interfaces
for (auto& transmission : transmissions) {
for (const auto& k_interface : transmission.joints_[0].hardware_interfaces_) {
auto joint = this->joints_[transmission.joints_[0].name_];
if (transmission.type_ == "transmission_interface/SimpleTransmission") {
ROS_INFO_STREAM_NAMED("franka_hw_sim", "Found transmission interface of joint '"
<< joint->name << "': " << k_interface);
if (k_interface == "hardware_interface/EffortJointInterface") {
initEffortCommandHandle(joint);
continue;
}
}
if (transmission.type_ == "franka_hw/FrankaStateInterface") {
ROS_INFO_STREAM_NAMED("franka_hw_sim",
"Found transmission interface '" << transmission.type_ << "'");
try {
initFrankaStateHandle(this->arm_id_, *urdf, transmission);
continue;
} catch (const std::invalid_argument& e) {
ROS_ERROR_STREAM_NAMED("franka_hw_sim", e.what());
return false;
}
}
if (transmission.type_ == "franka_hw/FrankaModelInterface") {
ROS_INFO_STREAM_NAMED("franka_hw_sim",
"Found transmission interface '" << transmission.type_ << "'");
try {
initFrankaModelHandle(this->arm_id_, *urdf, transmission);
continue;
} catch (const std::invalid_argument& e) {
ROS_ERROR_STREAM_NAMED("franka_hw_sim", e.what());
return false;
}
}
ROS_WARN_STREAM_NAMED("franka_hw_sim", "Unsupported transmission interface of joint '"
<< joint->name << "': " << k_interface);
}
}
// After all handles have been assigned to interfaces, register them
registerInterface(&this->eji_);
registerInterface(&this->jsi_);
registerInterface(&this->fsi_);
registerInterface(&this->fmi_);
// Initialize ROS Services
initServices(model_nh);
return readParameters(model_nh, *urdf);
}
void FrankaHWSim::initJointStateHandle(const std::shared_ptr<franka_gazebo::Joint>& joint) {
this->jsi_.registerHandle(hardware_interface::JointStateHandle(joint->name, &joint->position,
&joint->velocity, &joint->effort));
}
void FrankaHWSim::initEffortCommandHandle(const std::shared_ptr<franka_gazebo::Joint>& joint) {
this->eji_.registerHandle(
hardware_interface::JointHandle(this->jsi_.getHandle(joint->name), &joint->command));
}
void FrankaHWSim::initFrankaStateHandle(
const std::string& robot,
const urdf::Model& urdf,
const transmission_interface::TransmissionInfo& transmission) {
if (transmission.joints_.size() != 7) {
throw std::invalid_argument(
"Cannot create franka_hw/FrankaStateInterface for robot '" + robot + "_robot' because " +
std::to_string(transmission.joints_.size()) +
" joints were found beneath the <transmission> tag, but 7 are required.");
}
// Check if all joints defined in the <transmission> actually exist in the URDF
for (const auto& joint : transmission.joints_) {
if (not urdf.getJoint(joint.name_)) {
throw std::invalid_argument("Cannot create franka_hw/FrankaStateInterface for robot '" +
robot + "_robot' because the specified joint '" + joint.name_ +
"' in the <transmission> tag cannot be found in the URDF");
}
ROS_DEBUG_STREAM_NAMED("franka_hw_sim",
"Found joint " << joint.name_ << " to belong to a Panda robot");
}
this->fsi_.registerHandle(franka_hw::FrankaStateHandle(robot + "_robot", this->robot_state_));
}
void FrankaHWSim::initFrankaModelHandle(
const std::string& robot,
const urdf::Model& urdf,
const transmission_interface::TransmissionInfo& transmission) {
if (transmission.joints_.size() != 2) {
throw std::invalid_argument(
"Cannot create franka_hw/FrankaModelInterface for robot '" + robot + "_model' because " +
std::to_string(transmission.joints_.size()) +
" joints were found beneath the <transmission> tag, but 2 are required.");
}
for (auto& joint : transmission.joints_) {
if (not urdf.getJoint(joint.name_)) {
if (not urdf.getJoint(joint.name_)) {
throw std::invalid_argument("Cannot create franka_hw/FrankaModelInterface for robot '" +
robot + "_model' because the specified joint '" + joint.name_ +
"' in the <transmission> tag cannot be found in the URDF");
}
}
}
auto root =
std::find_if(transmission.joints_.begin(), transmission.joints_.end(),
[&](const transmission_interface::JointInfo& i) { return i.role_ == "root"; });
if (root == transmission.joints_.end()) {
throw std::invalid_argument("Cannot create franka_hw/FrankaModelInterface for robot '" + robot +
"_model' because no <joint> with <role>root</root> can be found "
"in the <transmission>");
}
auto tip =
std::find_if(transmission.joints_.begin(), transmission.joints_.end(),
[&](const transmission_interface::JointInfo& i) { return i.role_ == "tip"; });
if (tip == transmission.joints_.end()) {
throw std::invalid_argument("Cannot create franka_hw/FrankaModelInterface for robot '" + robot +
"_model' because no <joint> with <role>tip</role> can be found "
"in the <transmission>");
}
try {
auto root_link = urdf.getJoint(root->name_)->parent_link_name;
auto tip_link = urdf.getJoint(tip->name_)->child_link_name;
this->model_ = std::make_unique<franka_gazebo::ModelKDL>(urdf, root_link, tip_link);
} catch (const std::invalid_argument& e) {
throw std::invalid_argument("Cannot create franka_hw/FrankaModelInterface for robot '" + robot +
"_model'. " + e.what());
}
this->fmi_.registerHandle(
franka_hw::FrankaModelHandle(robot + "_model", *this->model_, this->robot_state_));
}
void FrankaHWSim::initServices(ros::NodeHandle& nh) {
this->service_set_ee_ =
nh.advertiseService<franka_msgs::SetEEFrame::Request, franka_msgs::SetEEFrame::Response>(
"set_EE_frame", [&](auto& request, auto& response) {
ROS_INFO_STREAM_NAMED("franka_hw_sim",
this->arm_id_ << ": Setting NE_T_EE transformation");
std::copy(request.NE_T_EE.cbegin(), request.NE_T_EE.cend(),
this->robot_state_.NE_T_EE.begin());
this->updateRobotStateDynamics();
response.success = true;
return true;
});
this->service_set_k_ = franka_hw::advertiseService<franka_msgs::SetKFrame>(
nh, "set_K_frame", [&](auto& request, auto& response) {
ROS_INFO_STREAM_NAMED("franka_hw_sim", this->arm_id_ << ": Setting EE_T_K transformation");
std::copy(request.EE_T_K.cbegin(), request.EE_T_K.cend(),
this->robot_state_.EE_T_K.begin());
this->updateRobotStateDynamics();
response.success = true;
return true;
});
this->service_set_load_ = franka_hw::advertiseService<franka_msgs::SetLoad>(
nh, "set_load", [&](auto& request, auto& response) {
ROS_INFO_STREAM_NAMED("franka_hw_sim", this->arm_id_ << ": Setting Load");
this->robot_state_.m_load = request.mass;
std::copy(request.F_x_center_load.cbegin(), request.F_x_center_load.cend(),
this->robot_state_.F_x_Cload.begin());
std::copy(request.load_inertia.cbegin(), request.load_inertia.cend(),
this->robot_state_.I_load.begin());
this->updateRobotStateDynamics();
response.success = true;
return true;
});
this->service_collision_behavior_ =
franka_hw::advertiseService<franka_msgs::SetForceTorqueCollisionBehavior>(
nh, "set_force_torque_collision_behavior", [&](auto& request, auto& response) {
ROS_INFO_STREAM_NAMED("franka_hw_sim", this->arm_id_ << ": Setting Collision Behavior");
for (int i = 0; i < 7; i++) {
std::string name = this->arm_id_ + "_joint" + std::to_string(i + 1);
this->joints_[name]->contact_threshold =
request.lower_torque_thresholds_nominal.at(i);
this->joints_[name]->collision_threshold =
request.upper_torque_thresholds_nominal.at(i);
}
std::move(request.lower_force_thresholds_nominal.begin(),
request.lower_force_thresholds_nominal.end(),
this->lower_force_thresholds_nominal_.begin());
std::move(request.upper_force_thresholds_nominal.begin(),
request.upper_force_thresholds_nominal.end(),
this->upper_force_thresholds_nominal_.begin());
response.success = true;
return true;
});
}
void FrankaHWSim::readSim(ros::Time time, ros::Duration period) {
for (const auto& pair : this->joints_) {
auto joint = pair.second;
joint->update(period);
}
this->updateRobotState(time);
}
void FrankaHWSim::writeSim(ros::Time /*time*/, ros::Duration /*period*/) {
auto g = this->model_->gravity(this->robot_state_);
for (auto& pair : this->joints_) {
auto joint = pair.second;
auto command = joint->command;
// Check if this joint is affected by gravity compensation
std::string prefix = this->arm_id_ + "_joint";
if (pair.first.rfind(prefix, 0) != std::string::npos) {
int i = std::stoi(pair.first.substr(prefix.size())) - 1;
command += g.at(i);
}
if (std::isnan(command)) {
ROS_WARN_STREAM_NAMED("franka_hw_sim",
"Command for " << joint->name << "is NaN, won't send to robot");
continue;
}
joint->handle->SetForce(0, command);
}
}
void FrankaHWSim::eStopActive(bool /* active */) {}
bool FrankaHWSim::readParameters(const ros::NodeHandle& nh, const urdf::Model& urdf) {
try {
guessEndEffector(nh, urdf);
nh.param<double>("m_load", this->robot_state_.m_load, 0);
std::string I_load; // NOLINT [readability-identifier-naming]
nh.param<std::string>("I_load", I_load, "0 0 0 0 0 0 0 0 0");
this->robot_state_.I_load = readArray<9>(I_load, "I_load");
std::string F_x_Cload; // NOLINT [readability-identifier-naming]
nh.param<std::string>("F_x_Cload", F_x_Cload, "0 0 0");
this->robot_state_.F_x_Cload = readArray<3>(F_x_Cload, "F_x_Cload");
std::string NE_T_EE; // NOLINT [readability-identifier-naming]
nh.param<std::string>("NE_T_EE", NE_T_EE, "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1");
this->robot_state_.NE_T_EE = readArray<16>(NE_T_EE, "NE_T_EE");
std::string EE_T_K; // NOLINT [readability-identifier-naming]
nh.param<std::string>("EE_T_K", EE_T_K, "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1");
this->robot_state_.EE_T_K = readArray<16>(EE_T_K, "EE_T_K");
// Only nominal cases supported for now
std::vector<double> lower_torque_thresholds = franka_hw::FrankaHW::getCollisionThresholds(
"lower_torque_thresholds_nominal", nh, {20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0});
std::vector<double> upper_torque_thresholds = franka_hw::FrankaHW::getCollisionThresholds(
"upper_torque_thresholds_nominal", nh, {20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0});
this->lower_force_thresholds_nominal_ = franka_hw::FrankaHW::getCollisionThresholds(
"lower_torque_thresholds_nominal", nh, {20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0});
this->upper_force_thresholds_nominal_ = franka_hw::FrankaHW::getCollisionThresholds(
"upper_torque_thresholds_nominal", nh, {20.0, 20.0, 20.0, 25.0, 25.0, 25.0});
for (int i = 0; i < 7; i++) {
std::string name = this->arm_id_ + "_joint" + std::to_string(i + 1);
this->joints_[name]->contact_threshold = lower_torque_thresholds.at(i);
this->joints_[name]->collision_threshold = upper_torque_thresholds.at(i);
}
} catch (const std::invalid_argument& e) {
ROS_ERROR_STREAM_NAMED("franka_hw_sim", e.what());
return false;
}
updateRobotStateDynamics();
return true;
}
void FrankaHWSim::guessEndEffector(const ros::NodeHandle& nh, const urdf::Model& urdf) {
auto hand_link = this->arm_id_ + "_hand";
auto hand = urdf.getLink(hand_link);
if (hand != nullptr) {
ROS_INFO_STREAM_NAMED("franka_hw_sim",
"Found link '" << hand_link
<< "' in URDF. Assuming it is defining the kinematics & "
"inertias of a Franka Hand Gripper.");
}
// By absolute default unless URDF or ROS params say otherwise, assume no end-effector.
double def_m_ee = 0;
std::string def_i_ee = "0.0 0 0 0 0.0 0 0 0 0.0";
std::string def_f_x_cee = "0 0 0";
std::string def_f_t_ne = "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1";
if (not nh.hasParam("F_T_NE") and hand != nullptr) {
// NOTE: We cannot interprete the Joint pose from the URDF directly, because
// its <arm_id>_link is mounted at the flange directly and not at NE
def_f_t_ne = "0.7071 -0.7071 0 0 0.7071 0.7071 0 0 0 0 1 0 0 0 0.1034 1";
}
std::string F_T_NE; // NOLINT [readability-identifier-naming]
nh.param<std::string>("F_T_NE", F_T_NE, def_f_t_ne);
this->robot_state_.F_T_NE = readArray<16>(F_T_NE, "F_T_NE");
if (not nh.hasParam("m_ee") and hand != nullptr) {
if (hand->inertial == nullptr) {
throw std::invalid_argument("Trying to use inertia of " + hand_link +
" but this link has no <inertial> tag defined in it.");
}
def_m_ee = hand->inertial->mass;
}
nh.param<double>("m_ee", this->robot_state_.m_ee, def_m_ee);
if (not nh.hasParam("I_ee") and hand != nullptr) {
if (hand->inertial == nullptr) {
throw std::invalid_argument("Trying to use inertia of " + hand_link +
" but this link has no <inertial> tag defined in it.");
}
// clang-format off
def_i_ee = std::to_string(hand->inertial->ixx) + " " + std::to_string(hand->inertial->ixy) + " " + std::to_string(hand->inertial->ixz) + " "
+ std::to_string(hand->inertial->ixy) + " " + std::to_string(hand->inertial->iyy) + " " + std::to_string(hand->inertial->iyz) + " "
+ std::to_string(hand->inertial->ixz) + " " + std::to_string(hand->inertial->iyz) + " " + std::to_string(hand->inertial->izz);
// clang-format on
}
std::string I_ee; // NOLINT [readability-identifier-naming]
nh.param<std::string>("I_ee", I_ee, def_i_ee);
this->robot_state_.I_ee = readArray<9>(I_ee, "I_ee");
if (not nh.hasParam("F_x_Cee") and hand != nullptr) {
if (hand->inertial == nullptr) {
throw std::invalid_argument("Trying to use inertia of " + hand_link +
" but this link has no <inertial> tag defined in it.");
}
def_f_x_cee = std::to_string(hand->inertial->origin.position.x) + " " +
std::to_string(hand->inertial->origin.position.y) + " " +
std::to_string(hand->inertial->origin.position.z);
}
std::string F_x_Cee; // NOLINT [readability-identifier-naming]
nh.param<std::string>("F_x_Cee", F_x_Cee, def_f_x_cee);
this->robot_state_.F_x_Cee = readArray<3>(F_x_Cee, "F_x_Cee");
}
void FrankaHWSim::updateRobotStateDynamics() {
this->robot_state_.m_total = this->robot_state_.m_ee + this->robot_state_.m_load;
Eigen::Map<Eigen::Matrix4d>(this->robot_state_.F_T_EE.data()) =
Eigen::Matrix4d(this->robot_state_.F_T_NE.data()) *
Eigen::Matrix4d(this->robot_state_.NE_T_EE.data());
Eigen::Map<Eigen::Matrix3d>(this->robot_state_.I_total.data()) =
shiftInertiaTensor(Eigen::Matrix3d(this->robot_state_.I_ee.data()), this->robot_state_.m_ee,
Eigen::Vector3d(this->robot_state_.F_x_Cload.data()));
}
void FrankaHWSim::updateRobotState(ros::Time time) {
// This is ensured, because a FrankaStateInterface checks for at least seven joints in the URDF
assert(this->joints_.size() >= 7);
for (int i = 0; i < 7; i++) {
std::string name = this->arm_id_ + "_joint" + std::to_string(i + 1);
const auto& joint = this->joints_.at(name);
this->robot_state_.q[i] = joint->position;
this->robot_state_.dq[i] = joint->velocity;
this->robot_state_.tau_J[i] = joint->effort;
this->robot_state_.dtau_J[i] = joint->jerk;
this->robot_state_.q_d[i] = joint->position;
this->robot_state_.dq_d[i] = joint->velocity;
this->robot_state_.ddq_d[i] = joint->acceleration;
this->robot_state_.tau_J_d[i] = joint->command;
// For now we assume no flexible joints
this->robot_state_.theta[i] = joint->position;
this->robot_state_.dtheta[i] = joint->velocity;
this->robot_state_.tau_ext_hat_filtered[i] = joint->effort - joint->command;
this->robot_state_.joint_contact[i] = static_cast<double>(joint->isInContact());
this->robot_state_.joint_collision[i] = static_cast<double>(joint->isInCollision());
}
// Calculate estimated wrenches in Task frame from external joint torques with jacobians
Eigen::Map<Eigen::Matrix<double, 7, 1>> tau_ext(this->robot_state_.tau_ext_hat_filtered.data());
Eigen::MatrixXd j0_transpose_pinv;
Eigen::MatrixXd jk_transpose_pinv;
Eigen::Matrix<double, 6, 7> j0(
this->model_->zeroJacobian(franka::Frame::kStiffness, this->robot_state_).data());
Eigen::Matrix<double, 6, 7> jk(
this->model_->bodyJacobian(franka::Frame::kStiffness, this->robot_state_).data());
franka_example_controllers::pseudoInverse(j0.transpose(), j0_transpose_pinv);
franka_example_controllers::pseudoInverse(jk.transpose(), jk_transpose_pinv);
Eigen::VectorXd f_ext_0 = j0_transpose_pinv * tau_ext;
Eigen::VectorXd f_ext_k = jk_transpose_pinv * tau_ext;
Eigen::VectorXd::Map(&this->robot_state_.O_F_ext_hat_K[0], 6) = f_ext_0;
Eigen::VectorXd::Map(&this->robot_state_.K_F_ext_hat_K[0], 6) = f_ext_k;
for (int i = 0; i < this->robot_state_.cartesian_contact.size(); i++) {
// Evaluate the cartesian contacts/collisions in K frame
double fi = std::abs(f_ext_k(i));
this->robot_state_.cartesian_contact[i] =
static_cast<double>(fi > this->lower_force_thresholds_nominal_.at(i));
this->robot_state_.cartesian_collision[i] =
static_cast<double>(fi > this->upper_force_thresholds_nominal_.at(i));
}
this->robot_state_.control_command_success_rate = 1.0;
this->robot_state_.time = franka::Duration(time.toNSec() / 1e6 /*ms*/);
this->robot_state_.O_T_EE = this->model_->pose(franka::Frame::kEndEffector, this->robot_state_);
}
} // namespace franka_gazebo
PLUGINLIB_EXPORT_CLASS(franka_gazebo::FrankaHWSim, gazebo_ros_control::RobotHWSim)