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implemented perform_command_mode_switch override in Ros2ControlSystem #846

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implemented perform_command_mode_switch override in Ros2ControlSystem #846

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460c1a6
Now we can switch controllers.
ralphieraccoon Sep 1, 2023
81f3c9a
Merge branch 'master' into switching-controllers
ralphieraccoon Oct 3, 2023
4b2aa16
Made Ros2ControlSystem.hpp clang-format compliant.
ralphieraccoon Oct 5, 2023
9c56d77
Included ResourceManager in Ros2ControlSystem::init()
ralphieraccoon Nov 14, 2023
98b6707
Made clang-format compliant.
ralphieraccoon Nov 14, 2023
ea27318
Ros2ControlSystem.hpp Clang-format compliant.
ralphieraccoon Nov 14, 2023
e09b6b3
Merge branch 'cyberbotics:master' into switching-controllers
ralphieraccoon Feb 6, 2024
d8f58cd
Merge branch 'master' into switching-controllers
omichel Feb 16, 2024
2fba987
Merge branch 'master' into switching-controllers
omichel Mar 2, 2024
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8 changes: 7 additions & 1 deletion webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@

#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/resource_manager.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "rclcpp/macros.hpp"
Expand Down Expand Up @@ -50,7 +51,8 @@ namespace webots_ros2_control {
class Ros2ControlSystem : public Ros2ControlSystemInterface {
public:
Ros2ControlSystem();
void init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info) override;
void init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info,
const hardware_interface::ResourceManager &resource) override;

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_init(
const hardware_interface::HardwareInfo &info) override;
Expand All @@ -61,6 +63,10 @@ namespace webots_ros2_control {

std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

hardware_interface::return_type perform_command_mode_switch(const std::vector<std::string> &start_interfaces,
const std::vector<std::string> &stop_interfaces) override;

hardware_interface::return_type read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
hardware_interface::return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;

Expand Down
4 changes: 3 additions & 1 deletion webots_ros2_control/include/webots_ros2_control/Ros2ControlSystemInterface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include <webots/supervisor.h>
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/resource_manager.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "webots_ros2_driver/PluginInterface.hpp"
Expand All @@ -30,7 +31,8 @@
namespace webots_ros2_control {
class Ros2ControlSystemInterface : public hardware_interface::SystemInterface {
public:
virtual void init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info) = 0;
virtual void init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info,
const hardware_interface::ResourceManager &resource) = 0;
};
} // namespace webots_ros2_control

Expand Down
2 changes: 1 addition & 1 deletion webots_ros2_control/src/Ros2Control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ namespace webots_ros2_control {
auto webotsSystem = std::unique_ptr<webots_ros2_control::Ros2ControlSystemInterface>(
mHardwareLoader->createUnmanagedInstance(hardwareType));
#endif
webotsSystem->init(mNode, controlHardware[i]);
webotsSystem->init(mNode, controlHardware[i], *resourceManager);
resourceManager->import_component(std::move(webotsSystem), controlHardware[i]);

// Configure and activate all components
Expand Down
58 changes: 49 additions & 9 deletions webots_ros2_control/src/Ros2ControlSystem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,8 @@ namespace webots_ros2_control {
Ros2ControlSystem::Ros2ControlSystem() {
mNode = NULL;
}
void Ros2ControlSystem::init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info) {
void Ros2ControlSystem::init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info,
const hardware_interface::ResourceManager &resource) {
mNode = node;
for (hardware_interface::ComponentInfo component : info.joints) {
Joint joint;
Expand Down Expand Up @@ -64,14 +65,16 @@ namespace webots_ros2_control {

// Configure the command interface
for (hardware_interface::InterfaceInfo commandInterface : component.command_interfaces) {
if (commandInterface.name == "position")
joint.controlPosition = true;
else if (commandInterface.name == "velocity")
joint.controlVelocity = true;
else if (commandInterface.name == "effort")
joint.controlEffort = true;
else
throw std::runtime_error("Invalid hardware info name `" + commandInterface.name + "`");
if (resource.command_interface_is_claimed(commandInterface.name)) {
if (commandInterface.name == "position")
joint.controlPosition = true;
else if (commandInterface.name == "velocity")
joint.controlVelocity = true;
else if (commandInterface.name == "effort")
joint.controlEffort = true;
else
throw std::runtime_error("Invalid hardware info name `" + commandInterface.name + "`");
}
}
if (joint.motor && joint.controlVelocity && !joint.controlPosition) {
wb_motor_set_position(joint.motor, INFINITY);
Expand Down Expand Up @@ -133,6 +136,43 @@ namespace webots_ros2_control {
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}

hardware_interface::return_type Ros2ControlSystem::perform_command_mode_switch(
const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) {
for (Joint &joint : mJoints) {
for (const std::string &interface_name : stop_interfaces) {
// Clear joint control method bits corresponding to stop interfaces
if (interface_name == (joint.name + "/" + hardware_interface::HW_IF_POSITION)) {
joint.controlPosition = false;
}
if (interface_name == (joint.name + "/" + hardware_interface::HW_IF_VELOCITY)) {
joint.controlVelocity = false;
}
if (interface_name == (joint.name + "/" + hardware_interface::HW_IF_EFFORT)) {
joint.controlEffort = false;
}
}

// Set joint control method bits corresponding to start interfaces
for (const std::string &interface_name : start_interfaces) {
if (interface_name == (joint.name + "/" + hardware_interface::HW_IF_POSITION)) {
joint.controlPosition = true;
}
if (interface_name == (joint.name + "/" + hardware_interface::HW_IF_VELOCITY)) {
joint.controlVelocity = true;
}
if (interface_name == (joint.name + "/" + hardware_interface::HW_IF_EFFORT)) {
joint.controlEffort = true;
}
}
if (joint.motor && joint.controlVelocity && !joint.controlPosition) {
wb_motor_set_position(joint.motor, INFINITY);
wb_motor_set_velocity(joint.motor, 0.0);
}
}

return hardware_interface::return_type::OK;
}

hardware_interface::return_type Ros2ControlSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
static double lastReadTime = 0;

Expand Down
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