ROSEE::XBot2Hal Class Reference

Concrete class which communicate directly with ROS topics. More...

#include <XBot2Hal.h>

Inheritance diagram for ROSEE::XBot2Hal:

Collaboration diagram for ROSEE::XBot2Hal:

Public Types
typedef std::shared_ptr< XBot2Hal >	Ptr
typedef std::shared_ptr< const XBot2Hal >	ConstPtr
Public Types inherited from ROSEE::EEHal
typedef std::shared_ptr< EEHal >	Ptr
typedef std::shared_ptr< const EEHal >	ConstPtr

Public Member Functions
	XBot2Hal (ros::NodeHandle *nh)
virtual	~XBot2Hal ()
virtual bool	sense () override
virtual bool	move () override
Public Member Functions inherited from ROSEE::EEHal
	EEHal (ros::NodeHandle *nh)
virtual	~EEHal ()
virtual bool	publish_joint_state ()
virtual bool	checkCommandPub ()
virtual bool	getFingersNames (std::vector< std::string > &fingers_names)
virtual bool	getMotorsNames (std::vector< std::string > &motors_names)
virtual bool	getMotorStiffness (Eigen::VectorXd &motors_stiffness)
virtual bool	getTipsFrictions (Eigen::VectorXd &tips_friction)
virtual bool	getMotorTorqueLimits (Eigen::VectorXd &motors_torque_limits)
virtual bool	getTipJointToTipFrameX (Eigen::VectorXd &tip_joint_to_tip_frame_x)
virtual bool	getTipJointToTipFrameY (Eigen::VectorXd &tip_joint_to_tip_frame_y)
virtual bool	getTipsJacobiansNormal (std::unordered_map< std::string, Eigen::MatrixXd > &tips_jacobian_normal)
virtual bool	getTipsJacobiansFriction (std::unordered_map< std::string, Eigen::MatrixXd > &tips_jacobian_friction)
virtual bool	getTransmissionMatrix (Eigen::MatrixXd &transmission_matrix)
virtual bool	getTransmissionSquareMatrices (std::unordered_map< std::string, Eigen::MatrixXd > &transmission_square_matrices)
virtual bool	getTransmissionAugmentedMatrices (std::unordered_map< std::string, Eigen::MatrixXd > &transmission_augmented_matrices)
virtual bool	getTipsForcesNormal (Eigen::VectorXd &tips_forces_normal)
virtual bool	getTipsForcesFriction (Eigen::VectorXd &tips_forces_friction)
virtual bool	parseHandInfo ()
virtual bool	isHandInfoPresent ()
virtual bool	init_hand_info_response ()
	init the service message with info parsed from yaml file, ie info that will not change according to hand configuration A derived HAL can override this if necessary, since this is called by EEHalExecutor More...
virtual bool	setHandInfoCallback ()
	Here service is advertise and callback set: if derived class wants to use different callback, they must override this and do : _hand_info_server = _nh->advertiseService(_hand_info_service_name, <custom_callback>);. More...
bool	publish_pressure ()
Eigen::VectorXd	getMotorReference () const
Eigen::VectorXd	getJointPosition () const
Eigen::VectorXd	getJointEffort () const
Eigen::MatrixXd	getPressure () const

Private Attributes
XBot::RobotInterface::Ptr	_robot
XBot::JointNameMap	_jointPositionActualMap
XBot::JointNameMap	_jointPositionReferenceMap

Additional Inherited Members
Public Attributes inherited from ROSEE::EEHal
bool	_pressure_active
Protected Member Functions inherited from ROSEE::EEHal
bool	initPressureSensing ()
Protected Attributes inherited from ROSEE::EEHal
ros::NodeHandle *	_nh
sensor_msgs::JointState	_mr_msg
	The references that must be read in the move() to send to the real/simulated robot TODO put private and create a get ? (no set) More...
ros::Subscriber	_motor_reference_sub
sensor_msgs::JointState	_js_msg
	The states that must be filled in the sense(), reading info from real/simulated robot TODO put private and create a set (no get) ? More...
ros::Publisher	_joint_state_pub
rosee_msg::MotorPhalangePressure	_pressure_msg
ros::Publisher	_pressure_pub
std::vector< std::string >	fingers_names
std::vector< std::string >	motors_names
Eigen::VectorXd	tips_frictions
Eigen::VectorXd	motors_torque_limits
Eigen::VectorXd	motors_stiffness
Eigen::VectorXd	tip_joint_to_tip_frame_x
Eigen::VectorXd	tip_joint_to_tip_frame_y
ros::ServiceServer	_hand_info_server
rosee_msg::HandInfo::Response	_hand_info_response
std::string	_hand_info_service_name

Detailed Description

Concrete class which communicate directly with ROS topics.

Definition at line 19 of file XBot2Hal.h.

Member Typedef Documentation

typedef std::shared_ptr<const XBot2Hal> ROSEE::XBot2Hal::ConstPtr

Definition at line 25 of file XBot2Hal.h.

typedef std::shared_ptr<XBot2Hal> ROSEE::XBot2Hal::Ptr

Definition at line 24 of file XBot2Hal.h.

Constructor & Destructor Documentation

ROSEE::XBot2Hal::XBot2Hal

(

ros::NodeHandle *

nh

)

Definition at line 4 of file XBot2Hal.cpp.

                                           : EEHal ( nh ) {
    
    //little HACK to be sure xbot is ready and gazebo is unpaused (this service is on after xbot2-core
    // is on AND gazebo is unpaused
    ROS_INFO_STREAM("[XBot2Hal constructor]: wait for xbot2core and gazebo to be ready...");
    ros::service::waitForService("/xbotcore/ros_ctrl/switch", -1);
    ROS_INFO_STREAM("[XBot2Hal constructor]: xbot2core and gazebo ready!");
    
    //We call the xbot service to command the hand through ros
//     std_srvs::SetBool serviceMsg;
//     serviceMsg.request.data = true;
//     ros::ServiceClient client = nh->serviceClient<std_srvs::SetBool>("/xbotcore/ros_ctrl/switch");
// 
//     if (client.call(serviceMsg) ) {
//         
//         
//         
//         if (!serviceMsg.response.success){
//             ROS_ERROR_STREAM("[XBot2Hal constructor]: Failed to call /xbotcore/ros_ctrl/switch with error message: " << serviceMsg.response.message << ". Aborting");
//             exit(-1);
//         }    
//         ROS_INFO_STREAM("[XBot2Hal constructor]: Succesfully called /xbotcore/ros_ctrl/switch");
//  
//     } else {
//         ROS_ERROR_STREAM("[XBot2Hal constructor]: Failed to call /xbotcore/ros_ctrl/switch. Aborting");
//         exit(-1);
//     }
    

    std::string path_to_config_file = XBot::Utils::getXBotConfig();
    
    _robot = XBot::RobotInterface::getRobot(path_to_config_file);
    
    _mr_msg.name.resize(_robot->getJointNum());
    _mr_msg.position.resize(_robot->getJointNum());
    _js_msg.name.resize(_robot->getJointNum());
    _js_msg.position.resize(_robot->getJointNum());
    _js_msg.velocity.resize(_robot->getJointNum());
    _js_msg.effort.resize(_robot->getJointNum());
    
}

virtual ROSEE::XBot2Hal::~XBot2Hal ( )

inlinevirtual

Definition at line 28 of file XBot2Hal.h.

{ };

Member Function Documentation

bool ROSEE::XBot2Hal::move ( )

overridevirtual

Implements ROSEE::EEHal.

Definition at line 72 of file XBot2Hal.cpp.

                         {
    
    //NOTE if robot does not move, check if "rosservice call /xbotcore/ros_ctrl/switch 1"
    for (int i=0; i<_mr_msg.position.size(); i++) {

        _jointPositionReferenceMap[_mr_msg.name.at(i)] = _mr_msg.position.at(i);
    }
    
    if (! _robot->setPositionReference(_jointPositionReferenceMap)) {
        return false;
    }

    return  _robot->move();
}

bool ROSEE::XBot2Hal::sense ( )

overridevirtual

Implements ROSEE::EEHal.

Definition at line 47 of file XBot2Hal.cpp.

                          {
    if (! _robot->sense()){
        return false;
    }
    _robot->getJointPosition(_jointPositionActualMap);
    if (_js_msg.name.size() != _jointPositionActualMap.size() ||
        _js_msg.position.size() != _jointPositionActualMap.size()) {
        
        ROS_ERROR_STREAM("[XBot2Hal::" << __func__ << "] size of _js_msg is different from the size" <<
            " or what received from the robot (_jointPositionActualMap)");
        return false;
    }
    
    int i = 0;
    for (auto it : _jointPositionActualMap ) {
        
        //TODO it is better to fill the names only once in the costructor?
        _js_msg.name.at(i) = it.first;
        _js_msg.position.at(i) = it.second;
        i++;
    }
    
    return true;
}

Member Data Documentation

XBot::JointNameMap ROSEE::XBot2Hal::_jointPositionActualMap

private

Definition at line 37 of file XBot2Hal.h.

XBot::JointNameMap ROSEE::XBot2Hal::_jointPositionReferenceMap

private

Definition at line 38 of file XBot2Hal.h.

XBot::RobotInterface::Ptr ROSEE::XBot2Hal::_robot

private

Definition at line 36 of file XBot2Hal.h.

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The documentation for this class was generated from the following files:

• /home/travis/build/ADVRHumanoids/ROSEndEffector/include/end_effector/HAL/XBot2Hal.h
• /home/travis/build/ADVRHumanoids/ROSEndEffector/src/HAL/XBot2Hal.cpp