From: Erik Andresen Date: Thu, 29 Oct 2015 18:23:42 +0000 (+0100) Subject: added dynamic reconfigure X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=fe3a7e9fe7c823e7530ffad8fb9c1ef4ac979671;p=arm_ros_conn.git added dynamic reconfigure --- diff --git a/CMakeLists.txt b/CMakeLists.txt index c64d68d..c286355 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -9,6 +9,7 @@ find_package(catkin REQUIRED COMPONENTS rospy sensor_msgs std_msgs + dynamic_reconfigure ) ## System dependencies are found with CMake's conventions @@ -71,6 +72,10 @@ find_package(catkin REQUIRED COMPONENTS # geometry_msgs# sensor_msgs# std_msgs # ) +generate_dynamic_reconfigure_options( + config/arm_ros_conn.cfg +) + ################################### ## catkin specific configuration ## ################################### diff --git a/config/arm_ros_conn.cfg b/config/arm_ros_conn.cfg new file mode 100755 index 0000000..38f46d3 --- /dev/null +++ b/config/arm_ros_conn.cfg @@ -0,0 +1,14 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("speed_1", int_t, 0, "PWM arm_base_to_link1", 220, 0, 255) +gen.add("speed_2", int_t, 0, "PWM link_1_2_joint", 220, 0, 255) +gen.add("speed_3", int_t, 0, "PWM link_2_3_joint", 220, 0, 255) +gen.add("speed_4", int_t, 0, "PWM link_3_4_joint", 220, 0, 255) +gen.add("speed_5", int_t, 0, "PWM link_4_5_joint", 220, 0, 255) +gen.add("speed_6", int_t, 0, "PWM gripper", 220, 0, 255) + +exit(gen.generate("arm_ros_conn", "arm_ros_conn", "Arm")) diff --git a/launch/arm.launch b/launch/arm.launch index 46cc15e..7369dac 100644 --- a/launch/arm.launch +++ b/launch/arm.launch @@ -4,5 +4,5 @@ - + diff --git a/package.xml b/package.xml index bf41ffb..9ad1151 100644 --- a/package.xml +++ b/package.xml @@ -44,10 +44,12 @@ rospy sensor_msgs std_msgs + dynamic_reconfigure geometry_msgs rospy sensor_msgs std_msgs + dynamic_reconfigure diff --git a/scripts/arm_ros.py b/scripts/arm_ros.py new file mode 100755 index 0000000..818b3c1 --- /dev/null +++ b/scripts/arm_ros.py @@ -0,0 +1,134 @@ +#!/usr/bin/env python +# -*- coding: iso-8859-15 -*- + +import sys +import rospy +import arm +import actionlib +import numpy as np +from dynamic_reconfigure.server import Server +from arm_ros_conn.cfg import ArmConfig +from sensor_msgs.msg import JointState +from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryActionResult, FollowJointTrajectoryActionFeedback, FollowJointTrajectoryResult +from control_msgs.msg import GripperCommandAction, GripperCommandActionResult, GripperCommandFeedback +from actionlib_msgs.msg import GoalStatus +from time import sleep +from math import * + +lJointNames = ["arm_base_to_link1", "link_1_2_joint", "link_2_3_joint", "link_3_4_joint", "link_4_5_joint", "left_gripper_joint", "right_gripper_joint"] + + +class ARMRosConn(): + _feedback = FollowJointTrajectoryActionFeedback() + _result = FollowJointTrajectoryActionResult() + _gripper_feedback = GripperCommandFeedback() + _gripper_result = GripperCommandActionResult() + + def __init__(self): + rospy.init_node('arm') + + self.lSpeeds = [220] * 6 + self.lAngles = [0] * 6 + arm.switch(0) + arm.switch(2) + arm.set_hall_mode(3, 0) + arm.set_hall_mode(5, 0) + arm.set_tolerance(3, 0) + arm.set_tolerance(5, 0) + + self._as_arm = actionlib.SimpleActionServer("arm_controller/follow_joint_trajectory", FollowJointTrajectoryAction, execute_cb=self.execute_joint_trajectory, auto_start = False) + self._as_arm.start() + self._as_gripper = actionlib.SimpleActionServer("gripper_controller/gripper_action", GripperCommandAction, execute_cb=self.execute_gripper_action, auto_start = False) + self._as_gripper.start() + self.pub_joint_states = rospy.Publisher("joint_states", JointState, queue_size=16) + self.dyn_conf = Server(ArmConfig, self.execute_dyn_reconf) + self.run() + + def run(self): + rate = rospy.Rate(20) + while not rospy.is_shutdown(): + self.publish_joint_states() + rate.sleep() + + def execute_dyn_reconf(self, config, level): + self.lSpeeds = [config["speed_1"], config["speed_2"], config["speed_3"], config["speed_4"], config["speed_5"], config["speed_6"]] + return config + + def publish_joint_states(self): + joint_state = JointState() + joint_state.header.stamp = rospy.Time.now() + joint_state.name = lJointNames + self.lAngles = [-arm.get_angle(0), arm.get_angle(1), -arm.get_angle(2), -arm.get_angle(3), arm.get_angle(4), 0.35-arm.get_angle(5)] + joint_state.position = self.lAngles[:-1] + [self.lAngles[-1], self.lAngles[-1]] + self.pub_joint_states.publish(joint_state) + + def execute_joint_trajectory(self, goal): + self._result.status = FollowJointTrajectoryResult.SUCCESSFUL + for point in goal.trajectory.points: + print goal.trajectory.joint_names + print point.positions + lGoalPosOrdered = [ + point.positions[goal.trajectory.joint_names.index(lJointNames[0])], + point.positions[goal.trajectory.joint_names.index(lJointNames[1])], + point.positions[goal.trajectory.joint_names.index(lJointNames[2])], + point.positions[goal.trajectory.joint_names.index(lJointNames[3])], + point.positions[goal.trajectory.joint_names.index(lJointNames[4])], + ] + try: + arm.to_angle(0, self.lSpeeds[0], -lGoalPosOrdered[0]) + arm.to_angle(1, self.lSpeeds[1], lGoalPosOrdered[1]) + arm.to_angle(2, self.lSpeeds[2], -lGoalPosOrdered[2]) + arm.to_angle(3, self.lSpeeds[3], -lGoalPosOrdered[3]) + arm.to_angle(4, self.lSpeeds[4], lGoalPosOrdered[4]) + except arm.RangeError as e: + print >> sys.stderr, e.message + self._feedback.status = GoalStatus.REJECTED + self._as_arm.publish_feedback(self._feedback.feedback) + self._result.status = FollowJointTrajectoryResult.INVALID_GOAL + break + + error = 0 + while True: + error = np.array(lGoalPosOrdered) - np.array(self.lAngles[:-1]) + print "Error", error + if all(abs(f) < 0.02 for f in error): + print "Position reached" + break + + if self._as_arm.is_preempt_requested(): + self._as_arm.set_preempted() + break + sleep(0.001) + + self._feedback.status = GoalStatus.SUCCEEDED + self._feedback.feedback.joint_names = lJointNames[:-1] + self._feedback.feedback.desired.positions = lGoalPosOrdered + self._feedback.feedback.actual.positions = self.lAngles[:-1] + self._feedback.feedback.error.positions = error + self._as_arm.publish_feedback(self._feedback.feedback) + self._as_arm.set_succeeded(self._result.result) + + + def execute_gripper_action(self, goal): + arm.to_angle(5, self.lSpeeds[5], 0.35-goal.command.position) + while True: + error = goal.command.position - self.lAngles[-1] + if abs(error) < 0.02: + break + + self._gripper_feedback.position = self.lAngles[-1] + self._gripper_feedback.stalled = False + self._gripper_feedback.reached_goal = False + + if self._as_gripper.is_preempt_requested(): + self._as_gripper.set_preempted() + break + sleep(0.001) + self._gripper_result.status = GoalStatus.SUCCEEDED + self._gripper_result.result.position = goal.command.position + self._gripper_result.result.stalled = False + self._gripper_result.result.reached_goal = True + self._as_gripper.set_succeeded(self._gripper_result.result) + +if __name__ == '__main__': + ARMRosConn() diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py deleted file mode 100755 index 4011356..0000000 --- a/scripts/arm_ros_conn.py +++ /dev/null @@ -1,127 +0,0 @@ -#!/usr/bin/env python -# -*- coding: iso-8859-15 -*- - -import sys -import rospy -import arm -import actionlib -import numpy as np -from sensor_msgs.msg import JointState -from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryActionResult, FollowJointTrajectoryActionFeedback, FollowJointTrajectoryResult -from control_msgs.msg import GripperCommandAction, GripperCommandActionResult, GripperCommandFeedback -from actionlib_msgs.msg import GoalStatus -from time import sleep -from math import * - -lJointNames = ["arm_base_to_link1", "link_1_2_joint", "link_2_3_joint", "link_3_4_joint", "link_4_5_joint", "left_gripper_joint", "right_gripper_joint"] - - -class ARMRosConn(): - _feedback = FollowJointTrajectoryActionFeedback() - _result = FollowJointTrajectoryActionResult() - _gripper_feedback = GripperCommandFeedback() - _gripper_result = GripperCommandActionResult() - - def __init__(self): - rospy.init_node('arm') - - self.speed = 220 - self.lAngles = [0] * 6 - arm.switch(0) - arm.switch(2) - arm.set_hall_mode(3, 0) - arm.set_hall_mode(5, 0) - arm.set_tolerance(3, 0) - arm.set_tolerance(5, 0) - - self._as_arm = actionlib.SimpleActionServer("arm_controller/follow_joint_trajectory", FollowJointTrajectoryAction, execute_cb=self.execute_joint_trajectory, auto_start = False) - self._as_arm.start() - self._as_gripper = actionlib.SimpleActionServer("gripper_controller/gripper_action", GripperCommandAction, execute_cb=self.execute_gripper_action, auto_start = False) - self._as_gripper.start() - self.pub_joint_states = rospy.Publisher("joint_states", JointState, queue_size=16) - self.run() - - def run(self): - rate = rospy.Rate(20) - while not rospy.is_shutdown(): - self.publish_joint_states() - rate.sleep() - - def publish_joint_states(self): - joint_state = JointState() - joint_state.header.stamp = rospy.Time.now() - joint_state.name = lJointNames - self.lAngles = [-arm.get_angle(0), arm.get_angle(1), -arm.get_angle(2), -arm.get_angle(3), arm.get_angle(4), 0.35-arm.get_angle(5)] - joint_state.position = self.lAngles[:-1] + [self.lAngles[-1], self.lAngles[-1]] - self.pub_joint_states.publish(joint_state) - - def execute_joint_trajectory(self, goal): - self._result.status = FollowJointTrajectoryResult.SUCCESSFUL - for point in goal.trajectory.points: - print goal.trajectory.joint_names - print point.positions - lGoalPosOrdered = [ - point.positions[goal.trajectory.joint_names.index(lJointNames[0])], - point.positions[goal.trajectory.joint_names.index(lJointNames[1])], - point.positions[goal.trajectory.joint_names.index(lJointNames[2])], - point.positions[goal.trajectory.joint_names.index(lJointNames[3])], - point.positions[goal.trajectory.joint_names.index(lJointNames[4])], - ] - try: - arm.to_angle(0, self.speed, -lGoalPosOrdered[0]) - arm.to_angle(1, self.speed, lGoalPosOrdered[1]) - arm.to_angle(2, self.speed, -lGoalPosOrdered[2]) - arm.to_angle(3, self.speed, -lGoalPosOrdered[3]) - arm.to_angle(4, self.speed, lGoalPosOrdered[4]) - except arm.RangeError as e: - print >> sys.stderr, e.message - self._feedback.status = GoalStatus.REJECTED - self._as_arm.publish_feedback(self._feedback.feedback) - self._result.status = FollowJointTrajectoryResult.INVALID_GOAL - break - - error = 0 - while True: - error = np.array(lGoalPosOrdered) - np.array(self.lAngles[:-1]) - print "Error", error - if all(abs(f) < 0.02 for f in error): - print "Position reached" - break - - if self._as_arm.is_preempt_requested(): - self._as_arm.set_preempted() - break - sleep(0.001) - - self._feedback.status = GoalStatus.SUCCEEDED - self._feedback.feedback.joint_names = lJointNames[:-1] - self._feedback.feedback.desired.positions = lGoalPosOrdered - self._feedback.feedback.actual.positions = self.lAngles[:-1] - self._feedback.feedback.error.positions = error - self._as_arm.publish_feedback(self._feedback.feedback) - self._as_arm.set_succeeded(self._result.result) - - - def execute_gripper_action(self, goal): - arm.to_angle(5, self.speed, 0.35-goal.command.position) - while True: - error = goal.command.position - self.lAngles[-1] - if abs(error) < 0.02: - break - - self._gripper_feedback.position = self.lAngles[-1] - self._gripper_feedback.stalled = False - self._gripper_feedback.reached_goal = False - - if self._as_gripper.is_preempt_requested(): - self._as_gripper.set_preempted() - break - sleep(0.001) - self._gripper_result.status = GoalStatus.SUCCEEDED - self._gripper_result.result.position = goal.command.position - self._gripper_result.result.stalled = False - self._gripper_result.result.reached_goal = True - self._as_gripper.set_succeeded(self._gripper_result.result) - -if __name__ == '__main__': - ARMRosConn()