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Update missing dependencies #102

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Update missing dependencies #102

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b5cb131
Add missing dependencies
wxmerkt Dec 30, 2019
f1751fa
Remove deprecated MoveIt parameter
wxmerkt Dec 30, 2019
67b47ca
Update RViz config to account for deprecated box frame
wxmerkt Dec 30, 2019
5df4dd8
Update example joint trajectory controller names
wxmerkt Dec 30, 2019
fc286c7
Add debug output for control strategy switching
wxmerkt Jan 24, 2020
0783ba7
Retry stopFRI until it stops rather than hanging in loop
wxmerkt Jan 24, 2020
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1 change: 1 addition & 0 deletions lwr_controllers/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
<depend>realtime_tools</depend>
<depend>urdf</depend>
<depend>forward_command_controller</depend>
<depend>joint_state_controller</depend>
<depend>dynamic_reconfigure</depend>
<depend>eigen</depend>
<depend>kdl_parser</depend>
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30 changes: 19 additions & 11 deletions lwr_hw/include/lwr_hw/lwr_hw_fri.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -196,19 +196,27 @@ class LWRHWFRI : public LWRHW
}
else
{
ROS_INFO_STREAM_THROTTLE(1, "Desired strategy differs, trying to stop FRI.");
stopFRI();

// send to KRL the new strategy
if( desired_strategy == JOINT_POSITION )
if( desired_strategy == JOINT_POSITION ) {
ROS_INFO_STREAM_THROTTLE(1, "Switching to JOINT_POSITION");
device_->setToKRLInt(0, JOINT_POSITION);
else if( desired_strategy == JOINT_IMPEDANCE)
}
else if( desired_strategy == JOINT_IMPEDANCE) {
ROS_INFO_STREAM_THROTTLE(1, "Switching to JOINT_IMPEDANCE");
device_->setToKRLInt(0, JOINT_IMPEDANCE);
else if( desired_strategy == CARTESIAN_IMPEDANCE)
}
else if( desired_strategy == CARTESIAN_IMPEDANCE) {
ROS_INFO_STREAM_THROTTLE(1, "Switching to CARTESIAN_IMPEDANCE");
device_->setToKRLInt(0, CARTESIAN_IMPEDANCE);
}


ROS_INFO_STREAM_THROTTLE(1, "Starting FRI");
startFRI();

ROS_INFO_STREAM_THROTTLE(1, "Set control strategy");
setControlStrategy(desired_strategy);
std::cout << "The ControlStrategy changed to: " << getControlStrategy() << std::endl;
}
Expand Down Expand Up @@ -265,13 +273,13 @@ class LWRHWFRI : public LWRHW
// wait until FRI enters in command mode
device_->setToKRLInt(1, 0);
std::cout << "Waiting for monitor mode..." << std::endl;
while ( device_->getFrmKRLInt(1) != 0 ){}
// {
// std::cout << "device_->getState(): " << device_->getState() << std::endl;
// std::cout << "Waiting for monitor mode..." << std::endl;
// device_->setToKRLInt(1, 0);
// usleep(1000000);
// }
while ( device_->getFrmKRLInt(1) != 0 )
{
std::cout << "device_->getState(): " << device_->getState() << std::endl;
std::cout << "Waiting for monitor mode..." << std::endl;
device_->setToKRLInt(1, 0);
usleep(500000);
}
return;
}

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2 changes: 1 addition & 1 deletion single_lwr_example/single_lwr_launch/launch/lwr_control.launch
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Expand Up @@ -5,7 +5,7 @@
<!-- Everythings is spawned under a namespace with the same name as the robot's. -->

<arg name="hardware_interface" default="PositionJointInterface"/>
<arg name="controllers" default="joint_state_controller pos_joint_trajectory_controller"/>
<arg name="controllers" default="joint_state_controller joint_trajectory_controller"/>
<arg name="robot_name" default="iiwa" />
<arg name="model" default="iiwa7" />

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2 changes: 1 addition & 1 deletion single_lwr_example/single_lwr_launch/launch/lwr_gazebo.launch
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Expand Up @@ -28,7 +28,7 @@

<include file="$(find single_lwr_launch)/launch/lwr_control.launch">
<arg name="hardware_interface" value="$(arg hardware_interface)" />
<arg name="controllers" value="joint_state_controller $(arg hardware_interface)_trajectory_controller" />
<arg name="controllers" value="joint_state_controller joint_trajectory_controller" />
<arg name="robot_name" value="$(arg robot_name)" />
<arg name="model" value="$(arg model)" />
</include>
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1 change: 0 additions & 1 deletion single_lwr_example/single_lwr_moveit/config/kinematics.yaml
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Expand Up @@ -2,4 +2,3 @@ full_lwr:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.05 #default: 0.005
kinematics_solver_attempts: 20 #default: 3
26 changes: 12 additions & 14 deletions single_lwr_example/single_lwr_moveit/launch/moveit.rviz
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Expand Up @@ -70,11 +70,6 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
box:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lwr_1_link:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -143,6 +138,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: true
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Expand Down Expand Up @@ -188,11 +187,6 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
box:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lwr_1_link:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -261,6 +255,10 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Expand All @@ -271,8 +269,6 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
box:
Value: false
lwr_1_link:
Value: false
lwr_1_link_dummy:
Expand Down Expand Up @@ -303,13 +299,15 @@ Visualization Manager:
Value: false
lwr_base_link:
Value: true
world:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
box:
world:
lwr_base_link:
lwr_1_link:
lwr_2_link:
Expand Down Expand Up @@ -339,7 +337,7 @@ Visualization Manager:
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: box
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
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1 change: 1 addition & 0 deletions single_lwr_example/single_lwr_moveit/package.xml
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Expand Up @@ -16,6 +16,7 @@
<exec_depend>moveit_ros_move_group</exec_depend>
<exec_depend>moveit_planners_ompl</exec_depend>
<exec_depend>moveit_ros_visualization</exec_depend>
<exec_depend>moveit_simple_controller_manager</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>xacro</exec_depend>
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2 changes: 2 additions & 0 deletions single_lwr_example/single_lwr_robot/package.xml
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Expand Up @@ -13,6 +13,8 @@
<exec_depend>lwr_hw</exec_depend>
<exec_depend>lwr_description</exec_depend>
<exec_depend>lwr_controllers</exec_depend>
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>position_controllers</exec_depend>

<export>
</export>
Expand Down