diff --git a/aerial_robot_control/include/aerial_robot_control/control/pose_linear_controller.h b/aerial_robot_control/include/aerial_robot_control/control/pose_linear_controller.h index abc8c3e29..6c2b167d0 100644 --- a/aerial_robot_control/include/aerial_robot_control/control/pose_linear_controller.h +++ b/aerial_robot_control/include/aerial_robot_control/control/pose_linear_controller.h @@ -92,7 +92,7 @@ namespace aerial_robot_control virtual void sendCmd(); - void cfgPidCallback(aerial_robot_control::PidControlConfig &config, uint32_t level, std::vector controller_indices); + virtual void cfgPidCallback(aerial_robot_control::PidControlConfig &config, uint32_t level, std::vector controller_indices); }; }; diff --git a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h index 5a463a8f9..ac8ee3162 100644 --- a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h +++ b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h @@ -296,7 +296,7 @@ namespace aerial_robot_navigation virtual void rosParamInit(); void naviCallback(const aerial_robot_msgs::FlightNavConstPtr & msg); - void joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg); + virtual void joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg); void batteryCheckCallback(const std_msgs::Float32ConstPtr &msg); virtual void halt() {} @@ -326,7 +326,7 @@ namespace aerial_robot_navigation if(!estimator_->getStateStatus(State::Z_BASE, estimate_mode_)) { ROS_ERROR("Flight Navigation: No correct sensor fusion for z(altitude), can not fly"); - return; + // return; } for(const auto& handler: estimator_->getGpsHandlers()) @@ -403,6 +403,15 @@ namespace aerial_robot_navigation if(!teleop_flag_) return; + if(getNaviState() < ARM_ON_STATE) return; + + if(getNaviState() == ARM_ON_STATE) + { + setNaviState(STOP_STATE); + ROS_ERROR("not land, but disarm motors directly"); + return; + } + setNaviState(LAND_STATE); setTargetXyFromCurrentState(); diff --git a/aerial_robot_control/src/control/pose_linear_controller.cpp b/aerial_robot_control/src/control/pose_linear_controller.cpp index b3261a9e7..4fe5c85e0 100644 --- a/aerial_robot_control/src/control/pose_linear_controller.cpp +++ b/aerial_robot_control/src/control/pose_linear_controller.cpp @@ -261,6 +261,8 @@ namespace aerial_robot_control pid_controllers_.at(Z).setLimitP(0); // no p control in final safe landing phase final_landing_phase = true; } + + if(err_z > 0) err_z = 0; // avoid unexpected ascending because of increase in I term } if(navigator_->getForceLandingFlag()) diff --git a/aerial_robot_control/src/flight_navigation.cpp b/aerial_robot_control/src/flight_navigation.cpp index 56eca254e..c14622741 100644 --- a/aerial_robot_control/src/flight_navigation.cpp +++ b/aerial_robot_control/src/flight_navigation.cpp @@ -406,6 +406,13 @@ void BaseNavigator::joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg) if(getNaviState() == LAND_STATE) return; if(!teleop_flag_) return; /* can not do the process if other processs are running */ + if(getNaviState() == ARM_ON_STATE) + { + setNaviState(STOP_STATE); + ROS_ERROR("Joy Conrol: not land, but disarm motors directly"); + return; + } + setNaviState(LAND_STATE); //update setTargetXyFromCurrentState(); @@ -607,11 +614,13 @@ void BaseNavigator::update() if(estimator_->getUnhealthLevel() == Sensor::UNHEALTH_LEVEL3 && !force_landing_flag_) { if(getNaviState() == TAKEOFF_STATE || getNaviState() == HOVER_STATE || getNaviState() == LAND_STATE) - ROS_WARN("Sensor Unhealth Level%d: force landing state", estimator_->getUnhealthLevel()); - spinal::FlightConfigCmd flight_config_cmd; - flight_config_cmd.cmd = spinal::FlightConfigCmd::FORCE_LANDING_CMD; - flight_config_pub_.publish(flight_config_cmd); - force_landing_flag_ = true; + { + ROS_WARN("Sensor Unhealth Level%d: force landing state", estimator_->getUnhealthLevel()); + spinal::FlightConfigCmd flight_config_cmd; + flight_config_cmd.cmd = spinal::FlightConfigCmd::FORCE_LANDING_CMD; + flight_config_pub_.publish(flight_config_cmd); + force_landing_flag_ = true; + } } if(getNaviState() == TAKEOFF_STATE || getNaviState() == HOVER_STATE) @@ -705,24 +714,17 @@ void BaseNavigator::update() //for estimator landing mode estimator_->setLandingMode(true); - if (getNaviState() > START_STATE) - { - if (fabs(delta.z()) > z_convergent_thresh_) convergent_start_time_ = ros::Time::now().toSec(); + if (fabs(delta.z()) > z_convergent_thresh_) convergent_start_time_ = ros::Time::now().toSec(); - if (ros::Time::now().toSec() - convergent_start_time_ > convergent_duration_) - { - convergent_start_time_ = ros::Time::now().toSec(); + if (ros::Time::now().toSec() - convergent_start_time_ > convergent_duration_) + { + convergent_start_time_ = ros::Time::now().toSec(); - ROS_ERROR("disarm motors"); - setNaviState(STOP_STATE); + ROS_ERROR("disarm motors"); + setNaviState(STOP_STATE); - setTargetXyFromCurrentState(); - setTargetYawFromCurrentState(); - } - } - else - { - setNaviState(ARM_OFF_STATE); + setTargetXyFromCurrentState(); + setTargetYawFromCurrentState(); } break; } diff --git a/aerial_robot_estimation/src/state_estimation.cpp b/aerial_robot_estimation/src/state_estimation.cpp index 468fe1d61..bd172b329 100644 --- a/aerial_robot_estimation/src/state_estimation.cpp +++ b/aerial_robot_estimation/src/state_estimation.cpp @@ -88,6 +88,14 @@ void StateEstimator::initialize(ros::NodeHandle nh, ros::NodeHandle nh_private, void StateEstimator::statePublish(const ros::TimerEvent & e) { ros::Time imu_stamp = boost::dynamic_pointer_cast(imu_handlers_.at(0))->getStamp(); + + if (imu_stamp.toSec() == 0) + { + // use the ros time now + imu_stamp = ros::Time::now(); + } + + aerial_robot_msgs::States full_state; full_state.header.stamp = imu_stamp; diff --git a/aerial_robot_model/include/aerial_robot_model/servo_bridge.h b/aerial_robot_model/include/aerial_robot_model/servo_bridge.h index 48dedb747..a12bcd334 100644 --- a/aerial_robot_model/include/aerial_robot_model/servo_bridge.h +++ b/aerial_robot_model/include/aerial_robot_model/servo_bridge.h @@ -123,9 +123,15 @@ class SingleServoHandle inline void setCurrTorqueVal(const double& val) { - curr_torque_val_ = torque_scale_ * angle_sgn_ * val; + curr_torque_val_ = torque_scale_ * angle_sgn_ * val; } + inline void setTargetTorqueVal(const double& val) + { + target_torque_val_ = val; + } + + inline void setName(const string& name){ name_ = name; } inline void setId(const int& id){ id_ = id; } inline void setAngleSgn(const int& sgn){ angle_sgn_ = sgn; } @@ -162,6 +168,19 @@ class SingleServoHandle return curr_torque_val_; } + inline const double getTargetTorqueVal(int value_type) const + { + if(value_type == ValueType::BIT) + { + return target_torque_val_ * angle_sgn_ / torque_scale_; + } + else // Nm + { + return target_torque_val_; + } + } + + inline const string& getName(){return name_; } inline const int& getId() const {return id_; } inline const int& getAngleSgn() const {return angle_sgn_; } @@ -175,6 +194,7 @@ class SingleServoHandle double curr_angle_val_; // radian double target_angle_val_; // radian double curr_torque_val_; // Nm + double target_torque_val_; // Nm int angle_sgn_; int zero_point_offset_; double angle_scale_; @@ -201,11 +221,14 @@ class ServoBridge ros::Publisher servo_states_pub_; map servo_states_subs_; map servo_ctrl_subs_; + map servo_torque_ctrl_subs_; + map servo_torque_subs_; map no_real_state_flags_; - map servo_ctrl_pubs_; - map servo_torque_ctrl_srvs_; - map servo_torque_ctrl_pubs_; - map > servo_ctrl_sim_pubs_; // TODO: should be actionlib, trajectory controller + map servo_target_pos_pubs_; + map servo_target_torque_pubs_; + map servo_enable_srvs_; + map servo_enable_pubs_; + map > servo_target_pos_sim_pubs_; // TODO: should be actionlib, trajectory controller map servos_handler_; double moving_check_rate_; @@ -216,7 +239,8 @@ class ServoBridge void servoStatesCallback(const spinal::ServoStatesConstPtr& state_msg, const std::string& servo_group_name); void servoCtrlCallback(const sensor_msgs::JointStateConstPtr& joints_ctrl_msg, const std::string& servo_group_name); - bool servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res, const std::string& servo_group_name); + void servoTorqueCtrlCallback(const sensor_msgs::JointStateConstPtr& joints_ctrl_msg, const std::string& servo_group_name); + bool servoEnableCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res, const std::string& servo_group_name); public: ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp); diff --git a/aerial_robot_model/src/servo_bridge/servo_bridge.cpp b/aerial_robot_model/src/servo_bridge/servo_bridge.cpp index 54a929449..f9f509d72 100644 --- a/aerial_robot_model/src/servo_bridge/servo_bridge.cpp +++ b/aerial_robot_model/src/servo_bridge/servo_bridge.cpp @@ -56,16 +56,19 @@ ServoBridge::ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp): nh_(nh),nhp_( /* common param and topics (between servo_bridge and spinal_ros_bridge) */ ros::NodeHandle nh_controller(nh_, "servo_controller"); - std::string state_sub_topic, ctrl_pub_topic, torque_pub_topic; + std::string state_sub_topic, pos_pub_topic, torque_pub_topic, servo_enable_pub_topic; nh_controller.param("state_sub_topic", state_sub_topic, std::string("servo/states")); - nh_controller.param("ctrl_pub_topic", ctrl_pub_topic, std::string("servo/target_states")); - nh_controller.param("torque_pub_topic", torque_pub_topic, std::string("servo/torque_enable")); + nh_controller.param("pos_pub_topic", pos_pub_topic, std::string("servo/target_states")); + nh_controller.param("torque_pub_topic", torque_pub_topic, std::string("servo/target_current")); + nh_controller.param("servo_enable_pub_topic", servo_enable_pub_topic, std::string("servo/torque_enable")); /* common subsriber: get servo states (i.e. joint angles) from real machine (spinal_ros_bridge) */ servo_states_subs_.insert(make_pair("common", nh_.subscribe(state_sub_topic, 10, boost::bind(&ServoBridge::servoStatesCallback, this, _1, "common")))); - /* common publisher: target servo state to real machine (spinal_ros_bridge) */ - servo_ctrl_pubs_.insert(make_pair("common", nh_.advertise(ctrl_pub_topic, 1))); - /* common publisher: torque on/off command */ - servo_torque_ctrl_pubs_.insert(make_pair("common", nh_.advertise(torque_pub_topic, 1))); + /* common publisher: target servo position to real machine (spinal_ros_bridge) */ + servo_target_pos_pubs_.insert(make_pair("common", nh_.advertise(pos_pub_topic, 1))); + /* common publisher: target servo torque to real machine (spinal_ros_bridge) */ + servo_target_torque_pubs_.insert(make_pair("common", nh_.advertise(torque_pub_topic, 1))); + /* common publisher: servo on/off flag to real machine (spinal_ros_bridge) */ + servo_enable_pubs_.insert(make_pair("common", nh_.advertise(servo_enable_pub_topic, 1))); /* get additional config for servos from ros parameters */ @@ -85,10 +88,12 @@ ServoBridge::ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp): nh_(nh),nhp_( no_real_state_flags_.at(group_name) = servo_group_params.second["no_real_state"]; /* pub, sub, and srv */ - /* mandatory subscriber: target servo state from controller */ + /* mandatory subscriber: target servo command (e.g., position, torque) from controller */ servo_ctrl_subs_.insert(make_pair(group_name, nh_.subscribe(group_name + string("_ctrl"), 10, boost::bind(&ServoBridge::servoCtrlCallback, this, _1, group_name)))); + /* mandatory subscriber: only target servo troque command from controller */ + servo_torque_ctrl_subs_.insert(make_pair(group_name, nh_.subscribe(group_name + string("_torque_ctrl"), 10, boost::bind(&ServoBridge::servoTorqueCtrlCallback, this, _1, group_name)))); /* mandatory service: get torque enalbe/disable flag */ - servo_torque_ctrl_srvs_.insert(make_pair(group_name, nh_.advertiseService(servo_group_params.first + string("/torque_enable"), boost::bind(&ServoBridge::servoTorqueCtrlCallback, this, _1, _2, servo_group_params.first)))); + servo_enable_srvs_.insert(make_pair(group_name, nh_.advertiseService(servo_group_params.first + string("/torque_enable"), boost::bind(&ServoBridge::servoEnableCallback, this, _1, _2, servo_group_params.first)))); if(servo_group_params.second.hasMember("state_sub_topic")) { @@ -96,16 +101,22 @@ ServoBridge::ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp): nh_(nh),nhp_( servo_states_subs_.insert(make_pair(group_name, nh_.subscribe((string)servo_group_params.second["state_sub_topic"], 10, boost::bind(&ServoBridge::servoStatesCallback, this, _1, servo_group_params.first)))); } - if(servo_group_params.second.hasMember("ctrl_pub_topic")) + if(servo_group_params.second.hasMember("pos_pub_topic")) { /* option: publish target servo state to real machine (spinal_ros_bridge) */ - servo_ctrl_pubs_.insert(make_pair(group_name, nh_.advertise(servo_group_params.second["ctrl_pub_topic"], 1))); + servo_target_pos_pubs_.insert(make_pair(group_name, nh_.advertise(servo_group_params.second["pos_pub_topic"], 1))); } if(servo_group_params.second.hasMember("torque_pub_topic")) { /* option: torque on/off */ - servo_torque_ctrl_pubs_.insert(make_pair(group_name, nh_.advertise((string)servo_group_params.second["torque_pub_topic"], 1))); + servo_target_torque_pubs_.insert(make_pair(group_name, nh_.advertise(servo_group_params.second["torque_pub_topic"], 1))); + } + + if(servo_group_params.second.hasMember("servo_enable_pub_topic")) + { + /* option: torque on/off */ + servo_enable_pubs_.insert(make_pair(group_name, nh_.advertise((string)servo_group_params.second["servo_enable_pub_topic"], 1))); } /* servo handler */ @@ -190,15 +201,15 @@ ServoBridge::ServoBridge(ros::NodeHandle nh, ros::NodeHandle nhp): nh_(nh),nhp_( ROS_ERROR("Failed to call service %s", controller_starter.getService().c_str()); /* init the servo command publisher to the controller */ - servo_ctrl_sim_pubs_[servo_group_params.first].push_back(nh_.advertise(load_srv.request.name + string("/command"), 1)); + servo_target_pos_sim_pubs_[servo_group_params.first].push_back(nh_.advertise(load_srv.request.name + string("/command"), 1)); // wait for the publisher initialization - while(servo_ctrl_sim_pubs_[servo_group_params.first].back().getNumSubscribers() == 0 && ros::ok()) + while(servo_target_pos_sim_pubs_[servo_group_params.first].back().getNumSubscribers() == 0 && ros::ok()) ros::Duration(0.1).sleep(); /* set the initial angle */ std_msgs::Float64 msg; nh_.getParam(string("servo_controller/") + servo_group_params.first + string("/") + servo_params.first + string("/simulation/init_value"), msg.data); - servo_ctrl_sim_pubs_[servo_group_params.first].back().publish(msg); + servo_target_pos_sim_pubs_[servo_group_params.first].back().publish(msg); } } } @@ -291,6 +302,7 @@ void ServoBridge::servoStatesCallback(const spinal::ServoStatesConstPtr& state_m void ServoBridge::servoCtrlCallback(const sensor_msgs::JointStateConstPtr& servo_ctrl_msg, const string& servo_group_name) { spinal::ServoControlCmd target_angle_msg; + spinal::ServoControlCmd target_torque_msg; if(servo_ctrl_msg->name.size() > 0) { @@ -318,11 +330,20 @@ void ServoBridge::servoCtrlCallback(const sensor_msgs::JointStateConstPtr& servo target_angle_msg.index.push_back((*servo_handler)->getId()); target_angle_msg.angles.push_back((*servo_handler)->getTargetAngleVal(ValueType::BIT)); + // process torque command if necessary + if(servo_ctrl_msg->effort.size() == servo_ctrl_msg->name.size()) + { + double torque = servo_ctrl_msg->effort.at(i); + (*servo_handler)->setTargetTorqueVal(torque); + target_torque_msg.index.push_back((*servo_handler)->getId()); + target_torque_msg.angles.push_back((*servo_handler)->getTargetTorqueVal(ValueType::BIT)); + } + if(simulation_mode_) { std_msgs::Float64 msg; msg.data = servo_ctrl_msg->position[i]; - servo_ctrl_sim_pubs_[servo_group_name].at(distance(servos_handler_[servo_group_name].begin(), servo_handler)).publish(msg); + servo_target_pos_sim_pubs_[servo_group_name].at(distance(servos_handler_[servo_group_name].begin(), servo_handler)).publish(msg); } } } @@ -331,7 +352,7 @@ void ServoBridge::servoCtrlCallback(const sensor_msgs::JointStateConstPtr& servo if(servo_ctrl_msg->position.size() != servos_handler_[servo_group_name].size()) { - ROS_ERROR("[servo bridge, servo control control]: the joint num from rosparam %d is not equal with ros msgs %d", + ROS_ERROR("[servo bridge, servo ctrl control]: the joint num from rosparam %d is not equal with ros msgs %d", (int)servos_handler_[servo_group_name].size(), (int)servo_ctrl_msg->position.size()); return; } @@ -344,22 +365,99 @@ void ServoBridge::servoCtrlCallback(const sensor_msgs::JointStateConstPtr& servo target_angle_msg.index.push_back(servo_handler->getId()); target_angle_msg.angles.push_back(servo_handler->getTargetAngleVal(ValueType::BIT)); + // process torque command if necessary + if(servo_ctrl_msg->effort.size() == servo_ctrl_msg->position.size()) + { + double torque = servo_ctrl_msg->effort.at(i); + servo_handler->setTargetTorqueVal(torque); + target_torque_msg.index.push_back(servo_handler->getId()); + target_torque_msg.angles.push_back(servo_handler->getTargetTorqueVal(ValueType::BIT)); + } + if(simulation_mode_) { std_msgs::Float64 msg; msg.data = servo_ctrl_msg->position[i]; - servo_ctrl_sim_pubs_[servo_group_name].at(i).publish(msg); + servo_target_pos_sim_pubs_[servo_group_name].at(i).publish(msg); + } + } + } + + if (servo_target_pos_pubs_.find(servo_group_name) != servo_target_pos_pubs_.end()) + servo_target_pos_pubs_[servo_group_name].publish(target_angle_msg); + else + servo_target_pos_pubs_["common"].publish(target_angle_msg); + + + // process torque command if necessary + if (target_torque_msg.index.size() == 0) return; + if (servo_target_torque_pubs_.find(servo_group_name) != servo_target_torque_pubs_.end()) + servo_target_torque_pubs_[servo_group_name].publish(target_torque_msg); + else + servo_target_torque_pubs_["common"].publish(target_torque_msg); +} + +void ServoBridge::servoTorqueCtrlCallback(const sensor_msgs::JointStateConstPtr& servo_ctrl_msg, const string& servo_group_name) +{ + spinal::ServoControlCmd target_torque_msg; + + if(servo_ctrl_msg->name.size() > 0) + { + for(int i = 0; i < servo_ctrl_msg->name.size(); i++) + {/* servo name is assigned */ + + if(servo_ctrl_msg->effort.size() != servo_ctrl_msg->name.size()) + { + ROS_ERROR("[servo bridge, servo torque control]: the servo effort (torque) num and name num are different in ros msgs [%d vs %d]", + (int)servo_ctrl_msg->effort.size(), (int)servo_ctrl_msg->name.size()); + return; } + + // use servo_name to search the servo_handler + auto servo_handler = find_if(servos_handler_[servo_group_name].begin(), servos_handler_[servo_group_name].end(), + [&](SingleServoHandlePtr s) {return servo_ctrl_msg->name.at(i) == s->getName();}); + + if(servo_handler == servos_handler_[servo_group_name].end()) + { + ROS_ERROR("[servo bridge, servo control callback]: no matching servo handler for %s", servo_ctrl_msg->name.at(i).c_str()); + return; + } + + double torque = servo_ctrl_msg->effort.at(i); + (*servo_handler)->setTargetTorqueVal(torque); + target_torque_msg.index.push_back((*servo_handler)->getId()); + target_torque_msg.angles.push_back((*servo_handler)->getTargetTorqueVal(ValueType::BIT)); + } + } + else + { /* for fast tranmission: no searching process, in the predefine order */ + + if(servo_ctrl_msg->position.size() != servos_handler_[servo_group_name].size()) + { + ROS_ERROR("[servo bridge, servo control control]: the joint num from rosparam %d is not equal with ros msgs %d", + (int)servos_handler_[servo_group_name].size(), (int)servo_ctrl_msg->position.size()); + return; + } + + for(int i = 0; i < servo_ctrl_msg->position.size(); i++) + { + /* use the kinematics order (e.g. joint1 ~ joint N, gimbal_roll -> gimbal_pitch) */ + SingleServoHandlePtr servo_handler = servos_handler_[servo_group_name].at(i); + double torque = servo_ctrl_msg->effort.at(i); + + servo_handler->setTargetTorqueVal(torque); + target_torque_msg.index.push_back(servo_handler->getId()); + target_torque_msg.angles.push_back(servo_handler->getTargetTorqueVal(ValueType::BIT)); } } - if (servo_ctrl_pubs_.find(servo_group_name) != servo_ctrl_pubs_.end()) - servo_ctrl_pubs_[servo_group_name].publish(target_angle_msg); + if (servo_target_torque_pubs_.find(servo_group_name) != servo_target_torque_pubs_.end()) + servo_target_torque_pubs_[servo_group_name].publish(target_torque_msg); else - servo_ctrl_pubs_["common"].publish(target_angle_msg); + servo_target_torque_pubs_["common"].publish(target_torque_msg); } -bool ServoBridge::servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res, const std::string& servo_group_name) +bool ServoBridge::servoEnableCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res, const std::string& servo_group_name) { spinal::ServoTorqueCmd torque_msg; for(auto servo_handler: servos_handler_[servo_group_name]) @@ -368,10 +466,10 @@ bool ServoBridge::servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, std_s torque_msg.torque_enable.push_back(req.data); } - if (servo_torque_ctrl_pubs_.find(servo_group_name) != servo_torque_ctrl_pubs_.end()) - servo_torque_ctrl_pubs_[servo_group_name].publish(torque_msg); + if (servo_enable_pubs_.find(servo_group_name) != servo_enable_pubs_.end()) + servo_enable_pubs_[servo_group_name].publish(torque_msg); else - servo_torque_ctrl_pubs_["common"].publish(torque_msg); + servo_enable_pubs_["common"].publish(torque_msg); return true; } diff --git a/aerial_robot_nerve/neuron/neuron_f4/.gitignore b/aerial_robot_nerve/neuron/neuron_f4/.gitignore index bd121f66b..0f3e7c5e8 100644 --- a/aerial_robot_nerve/neuron/neuron_f4/.gitignore +++ b/aerial_robot_nerve/neuron/neuron_f4/.gitignore @@ -28,3 +28,4 @@ spinal *.elf.* *.elf TrueSTUDIO/longzhu2/.settings/language.settings.xml +STM32CubeIDE/*.launch diff --git a/aerial_robot_nerve/neuron/neuronlib/CAN/can_constants.h b/aerial_robot_nerve/neuron/neuronlib/CAN/can_constants.h index 0954aaf2f..9084d8586 100644 --- a/aerial_robot_nerve/neuron/neuronlib/CAN/can_constants.h +++ b/aerial_robot_nerve/neuron/neuronlib/CAN/can_constants.h @@ -30,6 +30,7 @@ namespace CAN { constexpr uint8_t MESSAGEID_RECEIVE_PWM_0_5 = 0; constexpr uint8_t MESSAGEID_RECEIVE_PWM_6_11 = 1; constexpr uint8_t MESSAGEID_RECEIVE_SERVO_ANGLE = 0; + constexpr uint8_t MESSAGEID_RECEIVE_SERVO_CURRENT = 1; constexpr uint8_t MESSAGEID_RECEIVE_SERVO_CONFIG = 15; constexpr uint8_t MESSAGEID_SEND_SERVO_LIST[4] = {0, 1, 2, 3}; constexpr uint8_t MESSAGEID_RECEIVE_ENUM_REQUEST = 0; diff --git a/aerial_robot_nerve/neuron/neuronlib/Initializer/initializer.cpp b/aerial_robot_nerve/neuron/neuronlib/Initializer/initializer.cpp index 1f654996b..c47932e50 100644 --- a/aerial_robot_nerve/neuron/neuronlib/Initializer/initializer.cpp +++ b/aerial_robot_nerve/neuron/neuronlib/Initializer/initializer.cpp @@ -39,15 +39,16 @@ void Initializer::sendBoardConfig() data[5] = s.current_limit_ & 0xFF; data[6] = (s.current_limit_ >> 8) & 0xFF; data[7] = (s.send_data_flag_ ? 1 : 0); + data[7] += ((s.external_encoder_flag_ ? 1 : 0) << 1); sendMessage(CAN::MESSAGEID_SEND_INITIAL_CONFIG_2, m_slave_id, 8, data, 1); - data[0] = i; - data[1] = s.hardware_error_status_; - data[2] = (s.external_encoder_flag_ ? 1 : 0); - data[3] = s.joint_resolution_ & 0xFF; - data[4] = (s.joint_resolution_ >> 8) & 0xFF; - data[5] = s.servo_resolution_ & 0xFF; - data[6] = (s.servo_resolution_ >> 8) & 0xFF; - data[7] = 0; + data[0] = i; + data[1] = s.hardware_error_status_; + data[2] = s.goal_current_ & 0xFF; + data[3] = (s.goal_current_ >> 8) & 0xFF; + data[4] = s.joint_resolution_ & 0xFF; + data[5] = (s.joint_resolution_ >> 8) & 0xFF; + data[6] = s.servo_resolution_ & 0xFF; + data[7] = (s.servo_resolution_ >> 8) & 0xFF; sendMessage(CAN::MESSAGEID_SEND_INITIAL_CONFIG_3, m_slave_id, 8, data, 1); } } diff --git a/aerial_robot_nerve/neuron/neuronlib/Servo/Dynamixel/dynamixel_serial.cpp b/aerial_robot_nerve/neuron/neuronlib/Servo/Dynamixel/dynamixel_serial.cpp index 175630a39..f1bbdf679 100644 --- a/aerial_robot_nerve/neuron/neuronlib/Servo/Dynamixel/dynamixel_serial.cpp +++ b/aerial_robot_nerve/neuron/neuronlib/Servo/Dynamixel/dynamixel_serial.cpp @@ -6,7 +6,7 @@ void DynamixelSerial::init(UART_HandleTypeDef* huart, I2C_HandleTypeDef* hi2c, o huart_ = huart; mutex_ = mutex; servo_num_ = 0; - set_pos_tick_ = 0; + set_command_tick_ = 0; get_pos_tick_ = 0; get_load_tick_ = 0; get_temp_tick_ = 0; @@ -45,6 +45,11 @@ void DynamixelSerial::init(UART_HandleTypeDef* huart, I2C_HandleTypeDef* hi2c, o } cmdSyncWriteLed(); + // pre-define configuration + cmdSyncWriteShutdownBit(); + cmdSyncWriteReturnDelayTime(); + cmdSyncWriteTemperatureLimit(); + for (int i = 0; i < MAX_SERVO_NUM; i++) { Flashmemory::addValue(&(servo_[i].p_gain_), 2); Flashmemory::addValue(&(servo_[i].i_gain_), 2); @@ -68,6 +73,8 @@ void DynamixelSerial::init(UART_HandleTypeDef* huart, I2C_HandleTypeDef* hi2c, o getCurrentLimit(); getPositionGains(); getProfileVelocity(); + getModelNumber(); + getOperatingMode(); //initialize encoder: only can support one encoder @@ -85,6 +92,16 @@ void DynamixelSerial::init(UART_HandleTypeDef* huart, I2C_HandleTypeDef* hi2c, o if(servo_[i].external_encoder_flag_) encoder_handler_.setOffset(servo_[i].joint_offset_); } } + + // set initial goal current if necessary + for (unsigned int i = 0; i < servo_num_; i++) { + uint8_t operating_mode = servo_[i].operating_mode_; + uint16_t current_limit = servo_[i].current_limit_; + if (operating_mode == CURRENT_BASE_POSITION_CONTROL_MODE) { + servo_[i].goal_current_ = current_limit * 0.8; // workaround: set 80% of the overload threshold + cmdWriteGoalCurrent(i); + } + } } void DynamixelSerial::ping() @@ -172,17 +189,11 @@ void DynamixelSerial::update() uint32_t current_time = HAL_GetTick(); /* send position command to servo */ - if(current_time >= set_pos_tick_ + SET_POS_DU && SET_POS_DU > 0) { - if (set_pos_tick_ == 0) set_pos_tick_ = current_time + SET_POS_OFFSET; // init - else set_pos_tick_ = current_time; + if(current_time >= set_command_tick_ + SET_COMMAND_DU && SET_COMMAND_DU > 0) { + if (set_command_tick_ == 0) set_command_tick_ = current_time + SET_COMMAND_OFFSET; // init + else set_command_tick_ = current_time; - if (ttl_rs485_mixed_ != 0) { - for (unsigned int i = 0; i < servo_num_; ++i) { - instruction_buffer_.push(std::make_pair(INST_SET_GOAL_POS, i)); - } - } else { - instruction_buffer_.push(std::make_pair(INST_SET_GOAL_POS, 0)); - } + instruction_buffer_.push(std::make_pair(INST_SET_GOAL_COMMAND, 0)); // broadcast both target pos and current } /* read servo position(angle) */ @@ -200,7 +211,6 @@ void DynamixelSerial::update() } /* read servo load */ - if(current_time >= get_load_tick_ + GET_LOAD_DU && GET_LOAD_DU > 0) { if (get_load_tick_ == 0) get_load_tick_ = current_time + GET_LOAD_OFFSET; // init else get_load_tick_ = current_time; @@ -215,7 +225,6 @@ void DynamixelSerial::update() } /* read servo temperature */ - if(current_time >= get_temp_tick_ + GET_TEMP_DU && GET_TEMP_DU > 0) { if (get_temp_tick_ == 0) get_temp_tick_ = current_time + GET_TEMP_OFFSET; // init else get_temp_tick_ = current_time; @@ -255,6 +264,32 @@ void DynamixelSerial::update() } else { instruction_buffer_.push(std::make_pair(INST_GET_HARDWARE_ERROR_STATUS, 0)); } + + // check the latest error status with original rule + for (unsigned int i = 0; i < servo_num_; i++) { + if (servo_[i].hardware_error_status_ != 0) { + + // ingnore overload error for current based position control + if (servo_[i].hardware_error_status_ == (1 << OVERLOAD_ERROR)) { + if (servo_[i].operating_mode_ == CURRENT_BASE_POSITION_CONTROL_MODE) { + if (servo_[i].goal_current_ < servo_[i].current_limit_) { + servo_[i].force_servo_off_ = false; + continue; + } + } + } + + servo_[i].force_servo_off_ = true; + + if (servo_[i].torque_enable_) { + servo_[i].torque_enable_= false; + setTorque(i); // servo off + } + } + else { + servo_[i].force_servo_off_ = false; + } + } } @@ -269,8 +304,9 @@ void DynamixelSerial::update() /* set command */ switch (instruction.first) { - case INST_SET_GOAL_POS: /* send angle command to servo */ + case INST_SET_GOAL_COMMAND: /* send angle and current command to servo */ cmdSyncWriteGoalPosition(); + cmdSyncWriteGoalCurrent(); break; case INST_SET_TORQUE: /* send torque enable flag */ cmdWriteTorqueEnable(servo_index); @@ -530,7 +566,7 @@ int8_t DynamixelSerial::readStatusPacket(uint8_t status_packet_instruction) } break; case READ_ERROR: - if ((rx_data & 0x7F) == ERROR_NO_ERROR) { + if ((rx_data & 0x7F) == NO_ERROR) { status_stage++; } else { return -1; @@ -645,6 +681,16 @@ int8_t DynamixelSerial::readStatusPacket(uint8_t status_packet_instruction) s->moving_ = parameters[0]; } return 0; + case INST_GET_MODEL_NUMBER: + if (s != servo_.end()) { + s->model_number_ = ((parameters[1] << 8) & 0xFF00) | (parameters[0] & 0xFF); + } + return 0; + case INST_GET_OPERATING_MODE: + if (s != servo_.end()) { + s->operating_mode_ = parameters[0]; + } + return 0; case INST_GET_HOMING_OFFSET: if (s != servo_.end()) { s->homing_offset_ = ((parameters[3] << 24) & 0xFF000000) | ((parameters[2] << 16) & 0xFF0000) | ((parameters[1] << 8) & 0xFF00) | (parameters[0] & 0xFF); @@ -762,6 +808,16 @@ void DynamixelSerial::cmdReadMoving(uint8_t servo_index) cmdRead(servo_[servo_index].id_, CTRL_MOVING, MOVING_BYTE_LEN); } +void DynamixelSerial::cmdReadModelNumber(uint8_t servo_index) +{ + cmdRead(servo_[servo_index].id_, CTRL_MODEL_NUMBER, MODEL_NUMBER_BYTE_LEN); +} + +void DynamixelSerial::cmdReadOperatingMode(uint8_t servo_index) +{ + cmdRead(servo_[servo_index].id_, CTRL_OPERATING_MODE, OPERATING_MODE_BYTE_LEN); +} + void DynamixelSerial::cmdReadPositionGains(uint8_t servo_index) { cmdRead(servo_[servo_index].id_, CTRL_POSITION_D_GAIN, POSITION_GAINS_BYTE_LEN); @@ -840,12 +896,19 @@ void DynamixelSerial::cmdWriteStatusReturnLevel(uint8_t id, uint8_t set) void DynamixelSerial::cmdWriteTorqueEnable(uint8_t servo_index) { - uint8_t parameter = (uint8_t)((servo_[servo_index].torque_enable_) ? 1 : 0); - cmdWrite(servo_[servo_index].id_, CTRL_TORQUE_ENABLE, ¶meter, TORQUE_ENABLE_BYTE_LEN); } +void DynamixelSerial::cmdWriteGoalCurrent(uint8_t servo_index) +{ + int16_t cur = servo_[servo_index].goal_current_; + uint8_t parameters[GOAL_CURRENT_BYTE_LEN]; + parameters[0] = (uint8_t)(cur & 0xFF); + parameters[1] = (uint8_t)((cur >> 8) & 0xFF); + cmdWrite(servo_[servo_index].id_, CTRL_GOAL_CURRENT, parameters, GOAL_CURRENT_BYTE_LEN); +} + void DynamixelSerial::cmdSyncReadCurrentLimit(bool send_all) { cmdSyncRead(CTRL_CURRENT_LIMIT, CURRENT_LIMIT_BYTE_LEN, send_all); @@ -866,6 +929,16 @@ void DynamixelSerial::cmdSyncReadMoving(bool send_all) cmdSyncRead(CTRL_MOVING, MOVING_BYTE_LEN, send_all); } +void DynamixelSerial::cmdSyncReadModelNumber(bool send_all) +{ + cmdSyncRead(CTRL_MODEL_NUMBER, MODEL_NUMBER_BYTE_LEN, send_all); +} + +void DynamixelSerial::cmdSyncReadOperatingMode(bool send_all) +{ + cmdSyncRead(CTRL_OPERATING_MODE, OPERATING_MODE_BYTE_LEN, send_all); +} + void DynamixelSerial::cmdSyncReadPositionGains(bool send_all) { cmdSyncRead(CTRL_POSITION_D_GAIN, POSITION_GAINS_BYTE_LEN, send_all); @@ -906,6 +979,24 @@ void DynamixelSerial::cmdSyncWriteGoalPosition() cmdSyncWrite(CTRL_GOAL_POSITION, parameters, GOAL_POSITION_BYTE_LEN); } +void DynamixelSerial::cmdSyncWriteGoalCurrent() +{ + uint8_t parameters[INSTRUCTION_PACKET_SIZE]; + + for (unsigned int i = 0; i < servo_num_; i++) { + // uint8_t operating_mode = servo_[i].operating_mode; + // if (operating_mode != EXTENDED_POSITION_CONTROL_MODE && + // operating_mode != CURRENT_BASE_POSITION_CONTROL_MODE) { + // continue + // } + int16_t goal_current = servo_[i].goal_current_; + parameters[i * 2 + 0] = (uint8_t)(goal_current & 0xFF); + parameters[i * 2 + 1] = (uint8_t)((goal_current >> 8) & 0xFF); + } + + cmdSyncWrite(CTRL_GOAL_CURRENT, parameters, GOAL_CURRENT_BYTE_LEN); +} + void DynamixelSerial::cmdSyncWriteLed() { uint8_t parameters[INSTRUCTION_PACKET_SIZE]; @@ -956,12 +1047,74 @@ void DynamixelSerial::cmdSyncWriteTorqueEnable() cmdSyncWrite(CTRL_TORQUE_ENABLE, parameters, TORQUE_ENABLE_BYTE_LEN); } +void DynamixelSerial::cmdSyncWriteShutdownBit() +{ + uint8_t parameters[INSTRUCTION_PACKET_SIZE]; + + for (unsigned int i = 0; i < servo_num_; i++) { + parameters[i] = SHUTDOWN_BIT; + } + + cmdSyncWrite(CTRL_SHUTDOWN, parameters, SHUTDOWN_BYTE_LEN); +} + +void DynamixelSerial::cmdSyncWriteReturnDelayTime() +{ + uint8_t parameters[INSTRUCTION_PACKET_SIZE]; + + for (unsigned int i = 0; i < servo_num_; i++) { + parameters[i] = RETURN_DELAY_TIME; + } + + cmdSyncWrite(CTRL_RETURN_DELAY_TIME, parameters, RETURN_DELAY_TIME_BYTE_LEN); +} + +void DynamixelSerial::cmdSyncWriteTemperatureLimit() +{ + uint8_t parameters[INSTRUCTION_PACKET_SIZE]; + + for (unsigned int i = 0; i < servo_num_; i++) { + parameters[i] = TEMPERATURE_LIMIT; + } + + cmdSyncWrite(CTRL_TEMPERATURE_LIMIT, parameters, TEMPERATURE_LIMIT_BYTE_LEN); +} void DynamixelSerial::setStatusReturnLevel() { cmdWriteStatusReturnLevel(BROADCAST_ID, READ); } +void DynamixelSerial::getModelNumber() +{ + if (ttl_rs485_mixed_ != 0) { + for (unsigned int i = 0; i < servo_num_; ++i) { + cmdReadModelNumber(i); + readStatusPacket(INST_GET_MODEL_NUMBER); + } + } else { + cmdSyncReadModelNumber(); + for (unsigned int i = 0; i < servo_num_; i++) { + readStatusPacket(INST_GET_MODEL_NUMBER); + } + } +} + +void DynamixelSerial::getOperatingMode() +{ + if (ttl_rs485_mixed_ != 0) { + for (unsigned int i = 0; i < servo_num_; ++i) { + cmdReadOperatingMode(i); + readStatusPacket(INST_GET_OPERATING_MODE); + } + } else { + cmdSyncReadOperatingMode(); + for (unsigned int i = 0; i < servo_num_; i++) { + readStatusPacket(INST_GET_OPERATING_MODE); + } + } +} + void DynamixelSerial::getHomingOffset() { if (ttl_rs485_mixed_ != 0) { diff --git a/aerial_robot_nerve/neuron/neuronlib/Servo/Dynamixel/dynamixel_serial.h b/aerial_robot_nerve/neuron/neuronlib/Servo/Dynamixel/dynamixel_serial.h index 51f8a2243..9f3e32ef1 100644 --- a/aerial_robot_nerve/neuron/neuronlib/Servo/Dynamixel/dynamixel_serial.h +++ b/aerial_robot_nerve/neuron/neuronlib/Servo/Dynamixel/dynamixel_serial.h @@ -19,29 +19,50 @@ #include "Encoder/mag_encoder.h" #include "cmsis_os.h" -/* first should set the baudrate to 1000000*/ -/* uncomment following macro, and set the uart baudrate to 57143(M - * X28), then the buadrate will change */ -/* then comment following macro, change the baudrate back to 1000000 */ - -/* second, should set some setting to the servo */ -/* 1. the responce delay: which is very important for MX28AR, - * uncomment the INIT_SETTING marcro, and comment again after the setting - * we observed that the RX of uart will turn to 0, after the tx process - * therefore, we set the delay of rx after rx to be 0 => no 0V after rx - * 2. the voltage: we set the voltage limit according to the battery(4s: 17V) - */ - -//#define SET_BAUD -//#define SET_ID -//#define PING_TEST -//#define LED_TEST -//#define INIT_SETTING -//#define SERVO_TEST -//#define WHEEL_TEST -//#define SET_HOMING_OFFSET //######################################################################### + +//################ define - Dynamixel Model table ############################ +#define XC330_M077 0x4A6 +#define XC330_M288 0x4B0 +#define XC330_M181 0x4B0 +#define XC330_T181 0x4BA +#define XC330_T288 0x4C4 +#define XL430_W250 0x4CE +#define DXL430_W250 0x442 // 2XL430_W250 +#define XC430_W150 0x42E +#define XC430_W250 0x438 +#define DXC430_W250 0x488 // 2XC430_W250 +#define XM430_W210 0x406 +#define XH430_W210 0x3F2 +#define XH430_V210 0x41A +#define XD430_T210 0x3F3 +#define XM430_W350 0x3FC +#define XH430_W350 0x3E8 +#define XH430_V350 0x410 +#define XD430_T350 0x3E9 +#define XW430_T200 0x500 +#define XW430_T333 0x4F6 +#define XM540_W150 0x46A +#define XH540_W150 0x456 +#define XH540_V150 0x47E +#define XM540_W270 0x460 +#define XH540_W270 0x44C +#define XH540_V270 0x474 +#define XW540_T140 0x49C +#define XW540_T260 0x492 +#define MX_28 0x1E +#define MX_64 0x137 +#define MX_106 0x141 + +//################ define - Dynamixel operating mode table ###################### +#define CURRENT_CONTROL_MODE 0 +#define VELOCITY_CONTROL_MODE 1 +#define POSITION_CONTROL_MODE 3 +#define EXTENDED_POSITION_CONTROL_MODE 4 +#define CURRENT_BASE_POSITION_CONTROL_MODE 5 +#define PWM_CONTROL_MODE 16 + //################ define - Dynamixel Hex control table ###################### #define CTRL_MODEL_NUMBER 0x00 @@ -111,30 +132,36 @@ #define COMMAND_BULK_WRITE 0x93 //################ Instruction packet lengths ############################# -#define PING_LEN 3 -#define READ_INST_LEN 7 +#define PING_LEN 3 +#define READ_INST_LEN 7 #define HOMING_OFFSET_BYTE_LEN 4 #define SET_STATUS_RETURN_LEVEL_LEN 3 -#define REBOOT_LEN 3 +#define REBOOT_LEN 3 #define TORQUE_ENABLE_BYTE_LEN 1 -#define LED_BYTE_LEN 1 -#define STATUS_RETURN_LEVEL_BYTE_LEN 1 +#define LED_BYTE_LEN 1 +#define STATUS_RETURN_LEVEL_BYTE_LEN 1 #define GOAL_POSITION_BYTE_LEN 4 +#define GOAL_CURRENT_BYTE_LEN 2 #define PRESENT_POSITION_BYTE_LEN 4 #define PRESENT_CURRENT_BYTE_LEN 2 -#define PRESENT_TEMPERATURE_BYTE_LEN 1 -#define MOVING_BYTE_LEN 1 -#define HARDWARE_ERROR_STATUS_BYTE_LEN 1 +#define PRESENT_TEMPERATURE_BYTE_LEN 1 +#define MOVING_BYTE_LEN 1 +#define OPERATING_MODE_BYTE_LEN 1 +#define MODEL_NUMBER_BYTE_LEN 2 +#define HARDWARE_ERROR_STATUS_BYTE_LEN 1 #define POSITION_GAINS_BYTE_LEN 6 #define PROFILE_VELOCITY_BYTE_LEN 4 #define CURRENT_LIMIT_BYTE_LEN 2 +#define SHUTDOWN_BYTE_LEN 1 +#define RETURN_DELAY_TIME_BYTE_LEN 1 +#define TEMPERATURE_LIMIT_BYTE_LEN 1 //######################################################################### //############################ Specials ################################### #define NONE 0x00 #define READ 0x01 -#define ALL 0x02 +#define ALL 0x02 #define BROADCAST_ID 0xFE @@ -151,65 +178,70 @@ #define PING_TRIAL_NUM 100 //read status packet -#define READ_HEADER0 0 -#define READ_HEADER1 1 -#define READ_HEADER2 2 -#define READ_HEADER3 3 -#define READ_SERVOID 4 -#define READ_LENL 5 -#define READ_LENH 6 -#define READ_INSTRUCTION 7 -#define READ_ERROR 8 -#define READ_PARAMETER 9 -#define READ_CHECKSUML 10 -#define READ_CHECKSUMH 11 +#define READ_HEADER0 0 +#define READ_HEADER1 1 +#define READ_HEADER2 2 +#define READ_HEADER3 3 +#define READ_SERVOID 4 +#define READ_LENL 5 +#define READ_LENH 6 +#define READ_INSTRUCTION 7 +#define READ_ERROR 8 +#define READ_PARAMETER 9 +#define READ_CHECKSUML 10 +#define READ_CHECKSUMH 11 #define STATUS_PACKET_INSTRUCTION 0x55 +#define NO_ERROR 0 //error -#define ERROR_NO_ERROR 0 -#define ERROR_RESULT_FAIL 1 -#define ERROR_INSTRUCTION_ERROR 2 -#define ERROR_CRC_ERROR 3 -#define ERROR_DATA_RANGE_ERROR 4 -#define ERROR_DATA_LENGTH_ERROR 5 -#define ERROR_DATA_LIMIT_ERROR 6 -#define ERROR_ACCESS_ERROR 7 +#define INPUT_VOLTAGE_ERROR 0 +#define OVERHEATING_ERROR 2 +#define MOTOR_ENCODER_ERROR 3 +#define ELECTRICAL_SHOCK_ERROR 4 +#define OVERLOAD_ERROR 5 //addintional error status for external encoder -#define RESOLUTION_RATIO_ERROR 6 -#define ENCODER_CONNECT_ERROR 7 - +#define RESOLUTION_RATIO_ERROR 6 +#define ENCODER_CONNECT_ERROR 7 //for instruction buffer #define INST_GET_CURRENT_LIMIT 0 -#define INST_GET_HARDWARE_ERROR_STATUS 1 +#define INST_GET_HARDWARE_ERROR_STATUS 1 #define INST_GET_HOMING_OFFSET 2 #define INST_GET_POSITION_GAINS 3 #define INST_GET_PRESENT_CURRENT 4 #define INST_GET_PRESENT_MOVING 5 #define INST_GET_PRESENT_POS 6 -#define INST_GET_PRESENT_TEMPERATURE 7 +#define INST_GET_PRESENT_TEMPERATURE 7 #define INST_GET_PROFILE_VELOCITY 8 -#define INST_PING 9 +#define INST_PING 9 #define INST_SET_CURRENT_LIMIT 10 -#define INST_SET_GOAL_POS 11 +#define INST_SET_GOAL_COMMAND 11 #define INST_SET_HOMING_OFFSET 12 #define INST_SET_POSITION_GAINS 13 #define INST_SET_PROFILE_VELOCITY 14 -#define INST_SET_TORQUE 15 +#define INST_SET_TORQUE 15 +#define INST_GET_MODEL_NUMBER 16 +#define INST_GET_OPERATING_MODE 17 //instruction frequency: 0 means no process -#define SET_POS_DU 20 //[msec], 20ms => 50Hz -#define SET_POS_OFFSET 0 // offset from SET_POS +#define SET_COMMAND_DU 20 //[msec], 20ms => 50Hz +#define SET_COMMAND_OFFSET 0 // offset from SET_COMMAND #define GET_POS_DU 20 //[msec], 20ms => 50Hz -#define GET_POS_OFFSET 10 //offset from GET_POS +#define GET_POS_OFFSET 10 //offset from SET_COMMAND #define GET_LOAD_DU 200 //[msec], 200ms => 5Hz -#define GET_LOAD_OFFSET 0 //offset from GET_LOAD +#define GET_LOAD_OFFSET 0 //offset from SET_COMMAND #define GET_TEMP_DU 200 //[msec], 200ms => 5Hz -#define GET_TEMP_OFFSET 50 //offset from GET_TEMP +#define GET_TEMP_OFFSET 50 //offset from SET_COMMAND #define GET_MOVE_DU 200 //[msec], 200ms => 5Hz -#define GET_MOVE_OFFSET 100 //offset from GET_MOVE +#define GET_MOVE_OFFSET 100 //offset from SET_COMMAND #define GET_HARDWARE_ERROR_STATUS_DU 200 //[msec], 200ms => 5Hz -#define GET_HARDWARE_ERROR_STATUS_OFFSET 150 +#define GET_HARDWARE_ERROR_STATUS_OFFSET 150 //offset from SET_COMMAND + +// pre-defined configuration for dynamixel +#define TEMPERATURE_LIMIT 60 +#define RETURN_DELAY_TIME 25 +#define SHUTDOWN_BIT 1 << OVERHEATING_ERROR | 1 << ELECTRICAL_SHOCK_ERROR + /* please define the gpio which control the IO direction */ #define WE HAL_GPIO_WritePin(RS485EN_GPIO_Port, RS485EN_Pin, GPIO_PIN_SET); @@ -278,17 +310,29 @@ class RingBuffer class ServoData { public: ServoData(){} - ServoData(uint8_t id): id_(id), torque_enable_(false), first_get_pos_flag_(true){} + ServoData(uint8_t id): + id_(id), + torque_enable_(false), + first_get_pos_flag_(true), + force_servo_off_(false), + hardware_error_status_(0), + operating_mode_(0), + goal_current_(0) + {} uint8_t id_; int32_t present_position_; int32_t goal_position_; + int16_t goal_current_; int32_t calib_value_; int32_t homing_offset_; int32_t internal_offset_; uint8_t present_temp_; int16_t present_current_; uint8_t moving_; + uint16_t model_number_; + uint8_t shutdown_bit_; + uint8_t operating_mode_; uint8_t hardware_error_status_; uint16_t p_gain_, i_gain_, d_gain_; uint16_t profile_velocity_; @@ -301,6 +345,7 @@ class ServoData { float resolution_ratio_; bool led_; bool torque_enable_; + bool force_servo_off_; bool first_get_pos_flag_; int32_t getNewHomingOffset() const {return calib_value_ + homing_offset_ - present_position_;} @@ -308,7 +353,8 @@ class ServoData { int32_t getPresentPosition() const {return present_position_;} void setGoalPosition(int32_t goal_position) {goal_position_ = resolution_ratio_ * goal_position - internal_offset_;} int32_t getGoalPosition() const {return goal_position_;} - + void setGoalCurrent(int16_t goal_current) {goal_current_ = goal_current;} + int16_t getGoalCurrent() const { return goal_current_;} bool operator==(const ServoData& r) const {return this->id_ == r.id_;} }; @@ -341,7 +387,7 @@ class DynamixelSerial unsigned int servo_num_; std::array servo_; uint16_t ttl_rs485_mixed_; - uint32_t set_pos_tick_; + uint32_t set_command_tick_; uint32_t get_pos_tick_; uint32_t get_load_tick_; uint32_t get_temp_tick_; @@ -366,6 +412,8 @@ class DynamixelSerial inline void cmdReadHardwareErrorStatus(uint8_t servo_index); inline void cmdReadHomingOffset(uint8_t servo_index); inline void cmdReadMoving(uint8_t servo_index); + inline void cmdReadModelNumber(uint8_t servo_index); + inline void cmdReadOperatingMode(uint8_t servo_index); inline void cmdReadPositionGains(uint8_t servo_index); inline void cmdReadPresentCurrent(uint8_t servo_index); inline void cmdReadPresentPosition(uint8_t servo_index); @@ -377,26 +425,35 @@ class DynamixelSerial inline void cmdWriteProfileVelocity(uint8_t servo_index); inline void cmdWriteStatusReturnLevel(uint8_t id, uint8_t set); inline void cmdWriteTorqueEnable(uint8_t servo_index); + inline void cmdWriteGoalCurrent(uint8_t servo_index); inline void cmdSyncReadCurrentLimit(bool send_all = true); inline void cmdSyncReadHardwareErrorStatus(bool send_all = true); inline void cmdSyncReadHomingOffset(bool send_all = true); inline void cmdSyncReadMoving(bool send_all = true); + inline void cmdSyncReadModelNumber(bool send_all = true); + inline void cmdSyncReadOperatingMode(bool send_all = true); inline void cmdSyncReadPositionGains(bool send_all = true); inline void cmdSyncReadPresentCurrent(bool send_all = true); inline void cmdSyncReadPresentPosition(bool send_all = true); inline void cmdSyncReadPresentTemperature(bool send_all = true); inline void cmdSyncReadProfileVelocity(bool send_all = true); inline void cmdSyncWriteGoalPosition(); + inline void cmdSyncWriteGoalCurrent(); inline void cmdSyncWriteLed(); inline void cmdSyncWritePositionGains(); inline void cmdSyncWriteProfileVelocity(); inline void cmdSyncWriteTorqueEnable(); + inline void cmdSyncWriteShutdownBit(); + inline void cmdSyncWriteReturnDelayTime(); + inline void cmdSyncWriteTemperatureLimit(); inline void setStatusReturnLevel(); inline void getHomingOffset(); inline void getCurrentLimit(); inline void getPositionGains(); inline void getProfileVelocity(); + inline void getModelNumber(); + inline void getOperatingMode(); uint16_t calcCRC16(uint16_t crc_accum, uint8_t *data_blk_ptr, int data_blk_size); }; diff --git a/aerial_robot_nerve/neuron/neuronlib/Servo/servo.cpp b/aerial_robot_nerve/neuron/neuronlib/Servo/servo.cpp index 63fa3b5cd..0e08c2e66 100644 --- a/aerial_robot_nerve/neuron/neuronlib/Servo/servo.cpp +++ b/aerial_robot_nerve/neuron/neuronlib/Servo/servo.cpp @@ -26,6 +26,7 @@ void Servo::sendData() CANServoData data(static_cast(s.getPresentPosition()), s.present_temp_, s.moving_, + s.force_servo_off_, s.present_current_, s.hardware_error_status_); sendMessage(CAN::MESSAGEID_SEND_SERVO_LIST[i], m_slave_id, 8, reinterpret_cast(&data), 1); @@ -48,10 +49,21 @@ void Servo::receiveDataCallback(uint8_t message_id, uint32_t DLC, uint8_t* data) } s.setGoalPosition(goal_pos); bool torque_enable = (((data[i * 2 + 1] >> 7) & 0x01) != 0) ? true : false; - if (s.torque_enable_ != torque_enable) { - s.torque_enable_ = torque_enable; - servo_handler_.setTorque(i); - } + if (!s.force_servo_off_) { + if (s.torque_enable_ != torque_enable) { + s.torque_enable_ = torque_enable; + servo_handler_.setTorque(i); + } + } + } + break; + } + case CAN::MESSAGEID_RECEIVE_SERVO_CURRENT: + { + for (unsigned int i = 0; i < servo_handler_.getServoNum(); i++) { + ServoData& s = servo_handler_.getServo()[i]; + int16_t goal_current = (int16_t)(((data[i * 2 + 1] << 8) & 0xFF00) | (data[i * 2] & 0xFF)); + s.setGoalCurrent(goal_current); } break; } diff --git a/aerial_robot_nerve/neuron/neuronlib/Servo/servo.h b/aerial_robot_nerve/neuron/neuronlib/Servo/servo.h index eabd39e46..eca18f8a0 100644 --- a/aerial_robot_nerve/neuron/neuronlib/Servo/servo.h +++ b/aerial_robot_nerve/neuron/neuronlib/Servo/servo.h @@ -28,11 +28,14 @@ class Servo : public CANDevice struct CANServoData{ int16_t angle; uint8_t temperature; - uint8_t moving; + uint8_t status; int16_t current; uint8_t error; - CANServoData(uint16_t angle, uint8_t temperature, uint8_t moving, int16_t current, uint8_t error) - :angle(angle), temperature(temperature), moving(moving), current(current), error(error){} + CANServoData(uint16_t angle, uint8_t temperature, uint8_t moving, bool force_servo_disable, int16_t current, uint8_t error) + :angle(angle), temperature(temperature), current(current), error(error) + { + status = (force_servo_disable? 1 : 0) | moving << 1; + } }; DynamixelSerial servo_handler_; diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/initializer/can_initializer.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/initializer/can_initializer.cpp index f09fcf721..27323c54a 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/initializer/can_initializer.cpp +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/initializer/can_initializer.cpp @@ -225,16 +225,17 @@ void CANInitializer::receiveDataCallback(uint8_t slave_id, uint8_t message_id, u neuron_[index].can_servo_.servo_[servo_index].goal_position_ = (data[2] << 8) | data[1]; neuron_[index].can_servo_.servo_[servo_index].profile_velocity_ = (data[4] << 8) | data[3]; neuron_[index].can_servo_.servo_[servo_index].current_limit_ = (data[6] << 8) | data[5]; - neuron_[index].can_servo_.servo_[servo_index].send_data_flag_ = data[7]; + neuron_[index].can_servo_.servo_[servo_index].send_data_flag_ = data[7] & 0x01; + neuron_[index].can_servo_.servo_[servo_index].external_encoder_flag_ = data[7] & 0x02; break; } case CAN::MESSAGEID_SEND_INITIAL_CONFIG_3: { uint8_t servo_index = data[0]; neuron_[index].can_servo_.servo_[servo_index].error_ = data[1]; - neuron_[index].can_servo_.servo_[servo_index].external_encoder_flag_ = data[2]; - neuron_[index].can_servo_.servo_[servo_index].joint_resolution_ = (data[4] << 8) | data[3]; - neuron_[index].can_servo_.servo_[servo_index].servo_resolution_ = (data[6] << 8) | data[5]; + neuron_[index].can_servo_.servo_[servo_index].goal_current_ = (data[3] << 8) | data[2]; + neuron_[index].can_servo_.servo_[servo_index].joint_resolution_ = (data[5] << 8) | data[4]; + neuron_[index].can_servo_.servo_[servo_index].servo_resolution_ = (data[7] << 8) | data[6]; break; } default: diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/servo/can_servo.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/servo/can_servo.cpp index bfaf9b0a1..4b5deff01 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/servo/can_servo.cpp +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/servo/can_servo.cpp @@ -7,10 +7,11 @@ #include "can_servo.h" -bool Servo::getTorqueEnable() +void Servo::setTorqueEnable(bool torque_enable) { - if(error_ != 0) torque_enable_ = false; - return torque_enable_; + if (force_servo_off_) return; + + torque_enable_ = torque_enable; } void CANServo::sendData() @@ -20,6 +21,13 @@ void CANServo::sendData() target_angle[i] = ((servo_[i].torque_enable_ ? 1 : 0) << 15) | (servo_[i].goal_position_ & 0x7FFF); } sendMessage(CAN::MESSAGEID_RECEIVE_SERVO_ANGLE, m_slave_id, servo_.size() * 2, reinterpret_cast(target_angle), 0); + + int16_t target_current[4]; + for (unsigned int i = 0 ; i < servo_.size(); i++) { + target_current[i] = servo_[i].goal_current_; + } + sendMessage(CAN::MESSAGEID_RECEIVE_SERVO_CURRENT, m_slave_id, servo_.size() * 2, reinterpret_cast(target_current), 0); + } void CANServo::receiveDataCallback(uint8_t slave_id, uint8_t message_id, uint32_t DLC, uint8_t* data) @@ -27,7 +35,12 @@ void CANServo::receiveDataCallback(uint8_t slave_id, uint8_t message_id, uint32_ CANServoData servo_data = *(reinterpret_cast(data)); servo_[message_id].present_position_ = servo_data.angle; servo_[message_id].present_temperature_ = servo_data.temperature; - servo_[message_id].moving_ = servo_data.moving; + servo_[message_id].moving_ = (servo_data.status >> 1) & 0x01 ; + servo_[message_id].force_servo_off_ = ((servo_data.status & 0x01) != 0)? true: false; servo_[message_id].present_current_ = servo_data.current; servo_[message_id].error_ = servo_data.error; + + if (servo_[message_id].force_servo_off_) { + servo_[message_id].torque_enable_ = false; + } } diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/servo/can_servo.h b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/servo/can_servo.h index 060dbcb77..a7704a9c0 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/servo/can_servo.h +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/CANDevice/servo/can_servo.h @@ -18,14 +18,16 @@ class Servo uint16_t p_gain_, i_gain_, d_gain_; int16_t present_position_; int16_t goal_position_; + int16_t goal_current_; uint16_t profile_velocity_; - uint16_t present_current_; + int16_t present_current_; uint16_t current_limit_; uint8_t present_temperature_; uint8_t moving_; uint8_t error_; bool send_data_flag_; bool torque_enable_; + bool force_servo_off_; bool external_encoder_flag_; uint16_t joint_resolution_; uint16_t servo_resolution_; @@ -50,10 +52,12 @@ class Servo uint8_t getPresentTemperature() const {return present_temperature_;} uint8_t getMoving() const {return moving_;} uint8_t getError() const {return error_;} - bool getTorqueEnable(); + bool getTorqueEnable() const {return torque_enable_;} + bool getForceServoOffFlag() const {return force_servo_off_;} void setIndex(uint8_t index) {index_ = index;} void setGoalPosition(int16_t goal_position) {goal_position_ = goal_position;} - void setTorqueEnable(bool torque_enable) {torque_enable_ = torque_enable;} + void setGoalCurrent(int16_t goal_current) {goal_current_ = goal_current;} + void setTorqueEnable(bool torque_enable); }; class CANServo : public CANDevice @@ -73,7 +77,7 @@ class CANServo : public CANDevice struct CANServoData{ int16_t angle; uint8_t temperature; - uint8_t moving; + uint8_t status; int16_t current; uint8_t error; }; diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.cpp index 89a8369b9..d4cdac16a 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.cpp +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.cpp @@ -32,13 +32,18 @@ namespace Spine spinal::ServoStates servo_state_msg_; spinal::ServoTorqueStates servo_torque_state_msg_; ros::Publisher servo_state_pub_("servo/states", &servo_state_msg_); + // merge torque_states to states ros::Publisher servo_torque_state_pub_("servo/torque_states", &servo_torque_state_msg_); #if SEND_GYRO hydrus::Gyro gyro_msg_; ros::Publisher gyro_pub_("hydrus_gyro", &gyro_msg_); #endif - ros::Subscriber servo_ctrl_sub_("servo/target_states", servoControlCallback); + // rename following subscriber. + // taget_states -> target_position + // torque_enable -> control_enable + ros::Subscriber servo_position_sub_("servo/target_states", servoPositionCallback); + ros::Subscriber servo_current_sub_("servo/target_current", servoCurrentCallback); ros::Subscriber servo_torque_ctrl_sub_("servo/torque_enable", servoTorqueControlCallback); ros::ServiceServer board_info_srv_("get_board_info", boardInfoCallback); @@ -85,7 +90,7 @@ namespace Spine res = board_info_res_; } - void servoControlCallback(const spinal::ServoControlCmd& control_msg) + void servoPositionCallback(const spinal::ServoControlCmd& control_msg) { if (!servo_control_flag_) return; if (control_msg.index_length != control_msg.angles_length) return; @@ -94,6 +99,16 @@ namespace Spine } } + void servoCurrentCallback(const spinal::ServoControlCmd& control_msg) + { + if (!servo_control_flag_) return; + if (control_msg.index_length != control_msg.angles_length) return; + for (unsigned int i = 0; i < control_msg.index_length; i++) { + servo_.at(control_msg.index[i]).get().setGoalCurrent(control_msg.angles[i]); + // TODO: change angles -> commands + } + } + void servoTorqueControlCallback(const spinal::ServoTorqueCmd& control_msg) { if (control_msg.index_length != control_msg.torque_enable_length) return; @@ -132,7 +147,8 @@ namespace Spine nh_->advertise(gyro_pub_); #endif - nh_->subscribe(servo_ctrl_sub_); + nh_->subscribe(servo_position_sub_); + nh_->subscribe(servo_current_sub_); nh_->subscribe(servo_torque_ctrl_sub_); nh_->advertiseService(board_info_srv_); @@ -217,8 +233,12 @@ namespace Spine if(HAL_GetTick() < can_tx_idle_start_time_ + CAN_TX_PAUSE_TIME) return; if(HAL_GetTick() % 2 == 0) { + // 500Hz can_motor_send_device_.sendData(); + } + else { if (slave_num_ != 0) { + // 500Hz neuron_.at(send_board_index).can_servo_.sendData(); send_board_index++; if (send_board_index == slave_num_) send_board_index = 0; diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.h b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.h index 85be79aaa..02fe2fc28 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.h +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Hydrus_Lib/Spine/spine.h @@ -60,7 +60,8 @@ namespace Spine int8_t getUavModel(); void useRTOS(osMailQId* handle); void setServoControlFlag(bool flag); - void servoControlCallback(const spinal::ServoControlCmd& control_msg); + void servoPositionCallback(const spinal::ServoControlCmd& control_msg); + void servoCurrentCallback(const spinal::ServoControlCmd& control_msg); void servoTorqueControlCallback(const spinal::ServoTorqueCmd& control_msg); void boardInfoCallback(const spinal::GetBoardInfo::Request& req, spinal::GetBoardInfo::Response& res); void boardConfigCallback(const spinal::SetBoardConfig::Request& req, spinal::SetBoardConfig::Response& res); diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/CAN/can_constants.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/CAN/can_constants.h index ba4c8c273..067d4b26f 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/CAN/can_constants.h +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/CAN/can_constants.h @@ -31,6 +31,7 @@ namespace CAN { constexpr uint8_t MESSAGEID_RECEIVE_PWM_0_5 = 0; constexpr uint8_t MESSAGEID_RECEIVE_PWM_6_11 = 1; constexpr uint8_t MESSAGEID_RECEIVE_SERVO_ANGLE = 0; + constexpr uint8_t MESSAGEID_RECEIVE_SERVO_CURRENT = 1; constexpr uint8_t MESSAGEID_RECEIVE_SERVO_CONFIG = 15; constexpr uint8_t MESSAGEID_SEND_SERVO_LIST[4] = {0, 1, 2, 3}; constexpr uint8_t MESSAGEID_RECEIVE_ENUM_REQUEST = 0; diff --git a/aerial_robot_nerve/spinal/src/spinal/board_configurator.py b/aerial_robot_nerve/spinal/src/spinal/board_configurator.py index 36318a0b6..8468f9974 100644 --- a/aerial_robot_nerve/spinal/src/spinal/board_configurator.py +++ b/aerial_robot_nerve/spinal/src/spinal/board_configurator.py @@ -244,8 +244,8 @@ def configureButtonCallback(self): req.command = req.SET_SERVO_CURRENT_LIMIT #need to disable servo torque servo_trq_msg = ServoTorqueCmd() - servo_trq_msg.index = chr(self._current_servo_serial_index) - servo_trq_msg.torque_enable = chr(0) + servo_trq_msg.index = [self._current_servo_serial_index] + servo_trq_msg.torque_enable = [0] self.servo_torque_pub_.publish(servo_trq_msg) rospy.sleep(0.5) elif self._command == 'dynamixel_ttl_rs485_mixed': diff --git a/aerial_robot_nerve/spinal/src/spinal/servo_monitor.py b/aerial_robot_nerve/spinal/src/spinal/servo_monitor.py index e1ebe21a6..26a7e1dd7 100644 --- a/aerial_robot_nerve/spinal/src/spinal/servo_monitor.py +++ b/aerial_robot_nerve/spinal/src/spinal/servo_monitor.py @@ -20,6 +20,8 @@ PYTHON_VERSION = sys.version_info[0] +if PYTHON_VERSION == 3: + from functools import reduce class ServoMonitor(Plugin): diff --git a/robots/dragon/CMakeLists.txt b/robots/dragon/CMakeLists.txt index db06670a4..a86c413bb 100644 --- a/robots/dragon/CMakeLists.txt +++ b/robots/dragon/CMakeLists.txt @@ -36,6 +36,7 @@ include_directories( ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${NLOPT_INCLUDE_DIRS} + ${OsqpEigen_INCLUDE_DIRS} ) diff --git a/robots/dragon/config/quad/Servo.yaml b/robots/dragon/config/quad/Servo.yaml index 2c67e605e..a25513e2d 100644 --- a/robots/dragon/config/quad/Servo.yaml +++ b/robots/dragon/config/quad/Servo.yaml @@ -1,13 +1,10 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: 1 angle_scale: 0.00076699 zero_point_offset: 2047 - torque_scale: 1.0 # TODO please update the scale + torque_scale: 0.01 # for low pass filter filter_flag: true diff --git a/robots/dragon/config/quad/control/FullVectoringControlConfig.yaml b/robots/dragon/config/quad/control/FullVectoringControlConfig.yaml index 23f44009b..304cab216 100644 --- a/robots/dragon/config/quad/control/FullVectoringControlConfig.yaml +++ b/robots/dragon/config/quad/control/FullVectoringControlConfig.yaml @@ -14,6 +14,7 @@ controller: momentum_observer_force_weight: 3 # heavy delay, less noise, 2, 2.5, 3, light delay, more noise. The old parameter 5 has bug momentum_observer_torque_weight: 2.5 + rotor_interfere_estimate: true rotor_interfere_compensate: true overlap_dist_link_thresh: 0.12 overlap_dist_link_relax_thresh: 0.14 diff --git a/robots/dragon/config/quad/egomotion_estimation/euclid_201709/HydrusLike.yaml b/robots/dragon/config/quad/egomotion_estimation/euclid_201709/HydrusLike.yaml index 2dc2b44ef..9ce768ff3 100644 --- a/robots/dragon/config/quad/egomotion_estimation/euclid_201709/HydrusLike.yaml +++ b/robots/dragon/config/quad/egomotion_estimation/euclid_201709/HydrusLike.yaml @@ -2,7 +2,7 @@ estimation: # sensor plugin sensor_list: - - sensor_plugin/imu + - sensor_plugin/dragon_imu - sensor_plugin/mocap # egomotion estimation @@ -43,5 +43,7 @@ estimation: sensor_plugin: imu: estimate_mode: 3 # 1<<0 + 1<<1 + sample_freq: 200.0 + cutoff_freq: 10.0 mocap: estimate_mode: 6 # 1<<1 + 1<<2 diff --git a/robots/dragon/config/quad/model/FullVectoringRobotModel.yaml b/robots/dragon/config/quad/model/FullVectoringRobotModel.yaml index a89401ad4..5e0b643f7 100644 --- a/robots/dragon/config/quad/model/FullVectoringRobotModel.yaml +++ b/robots/dragon/config/quad/model/FullVectoringRobotModel.yaml @@ -16,3 +16,6 @@ min_force_weight: 1.0 min_torque_weight: 1.0 edf_max_tilt: 0.05 + +thrust_force_weight: 1.0 +joint_torque_weight: 0.0 # no consideration about joint torque diff --git a/robots/dragon/include/dragon/control/full_vectoring_control.h b/robots/dragon/include/dragon/control/full_vectoring_control.h index 41c43ed3e..3229bcf49 100644 --- a/robots/dragon/include/dragon/control/full_vectoring_control.h +++ b/robots/dragon/include/dragon/control/full_vectoring_control.h @@ -63,6 +63,7 @@ namespace aerial_robot_control boost::shared_ptr estimator, boost::shared_ptr navigator, double ctrl_loop_rate) override; + void reset() override; private: @@ -93,6 +94,7 @@ namespace aerial_robot_control Eigen::VectorXd integrate_term_; double prev_est_wrench_timestamp_; + bool rotor_interfere_estimate_; bool rotor_interfere_compensate_; double fz_bias_; double tx_bias_; @@ -114,6 +116,11 @@ namespace aerial_robot_control double overlap_dist_link_relax_thresh_; double overlap_dist_inter_joint_thresh_; + double takeoff_acc_z_thresh_; + + double thrust_force_weight_, joint_torque_weight_; + double joint_torque_thresh_; + bool on_ground_; void externalWrenchEstimate(); const Eigen::VectorXd getTargetWrenchAccCog() @@ -128,7 +135,8 @@ namespace aerial_robot_control } void controlCore() override; - void rotorInterfereCompensation(); + void rotorInterfereEstimate(); + void rotorInterfereCompensate(Eigen::VectorXd& target_wrench_acc); void rosParamInit(); void sendCmd(); }; diff --git a/robots/dragon/include/dragon/dragon_navigation.h b/robots/dragon/include/dragon/dragon_navigation.h index e8df9deed..e891df948 100644 --- a/robots/dragon/include/dragon/dragon_navigation.h +++ b/robots/dragon/include/dragon/dragon_navigation.h @@ -55,7 +55,7 @@ namespace aerial_robot_navigation inline const bool getLandingFlag() const { return landing_flag_; } - private: + protected: ros::Publisher curr_target_baselink_rot_pub_; ros::Publisher joint_control_pub_; ros::Subscriber final_target_baselink_rot_sub_; @@ -65,7 +65,7 @@ namespace aerial_robot_navigation void reset() override; void servoTorqueProcess(); - void landingProcess(); + virtual void landingProcess(); void gimbalControl(); void baselinkRotationProcess(); void rosParamInit() override; diff --git a/robots/dragon/include/dragon/model/full_vectoring_robot_model.h b/robots/dragon/include/dragon/model/full_vectoring_robot_model.h index a38f4599a..86573f127 100644 --- a/robots/dragon/include/dragon/model/full_vectoring_robot_model.h +++ b/robots/dragon/include/dragon/model/full_vectoring_robot_model.h @@ -55,6 +55,9 @@ namespace Dragon virtual ~FullVectoringRobotModel() = default; + void addCompThrustToStaticThrust() override; + void calcJointTorque(const bool update_jacobian = true) override; + inline boost::shared_ptr getRobotModelForPlan() { return robot_model_for_plan_;} inline const Eigen::VectorXd& getHoverVectoringF() const {return hover_vectoring_f_;} @@ -116,14 +119,18 @@ namespace Dragon //private functions void getParamFromRos(); - void updateRobotModelImpl(const KDL::JntArray& joint_positions) override; /* gimbal roll angle optimization problem */ std::vector calcBestLockGimbalRoll(const std::vector& gimbal_roll_lock, const std::vector& prev_gimbal_roll_lock, const std::vector& prev_opt_locked_roll_angles); - void calcStaticThrust() override {}; // do nothing + void calcStaticThrust() override; void calcFeasibleControlFDists() {}; // do nothing void calcFeasibleControlTDists() {}; // do nothing + + protected: + virtual void updateRobotModelImpl(const KDL::JntArray& joint_positions) override; + + double thrust_force_weight_, joint_torque_weight_; }; template<> inline std::vector FullVectoringRobotModel::getGimbalRollOriginFromCog() const diff --git a/robots/dragon/include/dragon/model/hydrus_like_robot_model.h b/robots/dragon/include/dragon/model/hydrus_like_robot_model.h index 071d21a27..cc63081d2 100644 --- a/robots/dragon/include/dragon/model/hydrus_like_robot_model.h +++ b/robots/dragon/include/dragon/model/hydrus_like_robot_model.h @@ -65,7 +65,7 @@ namespace Dragon //public functions void addCompThrustToJointTorque(); - void addCompThrustToStaticThrust(); + virtual void addCompThrustToStaticThrust(); bool addExternalStaticWrench(const std::string wrench_name, const std::string reference_frame, const geometry_msgs::Point offset, const geometry_msgs::Wrench wrench); bool addExternalStaticWrench(const std::string wrench_name, const std::string reference_frame, const KDL::Vector offset, const KDL::Wrench wrench); bool addExternalStaticWrench(const std::string wrench_name, const std::string reference_frame, const KDL::Vector offset, const Eigen::VectorXd wrench); @@ -152,8 +152,6 @@ namespace Dragon double min_dist_; std::map external_wrench_map_; - Eigen::VectorXd wrench_comp_thrust_; - Eigen::VectorXd vectoring_thrust_; Eigen::MatrixXd vectoring_q_mat_; Eigen::MatrixXd comp_thrust_jacobian_; @@ -170,9 +168,12 @@ namespace Dragon protected: + Eigen::VectorXd wrench_comp_thrust_; + Eigen::VectorXd vectoring_thrust_; + void setCompThrustJacobian(const Eigen::MatrixXd comp_thrust_jacobian) { comp_thrust_jacobian_ = comp_thrust_jacobian; } - void updateRobotModelImpl(const KDL::JntArray& joint_positions) override; + virtual void updateRobotModelImpl(const KDL::JntArray& joint_positions) override; }; template<> inline KDL::JntArray HydrusLikeRobotModel::getGimbalProcessedJoint() diff --git a/robots/dragon/src/control/full_vectoring_control.cpp b/robots/dragon/src/control/full_vectoring_control.cpp index dbfdfc80c..7046c6092 100644 --- a/robots/dragon/src/control/full_vectoring_control.cpp +++ b/robots/dragon/src/control/full_vectoring_control.cpp @@ -24,6 +24,8 @@ void DragonFullVectoringController::initialize(ros::NodeHandle nh, ros::NodeHand target_base_thrust_.resize(motor_num_); target_gimbal_angles_.resize(motor_num_ * 2, 0); + on_ground_ = true; + gimbal_control_pub_ = nh_.advertise("gimbals_ctrl", 1); flight_cmd_pub_ = nh_.advertise("four_axes/command", 1); target_vectoring_force_pub_ = nh_.advertise("debug/target_vectoring_force", 1); @@ -54,7 +56,7 @@ void DragonFullVectoringController::initialize(ros::NodeHandle nh, ros::NodeHand }); } -void DragonFullVectoringController::rotorInterfereCompensation() +void DragonFullVectoringController::rotorInterfereEstimate() { //rotor interference compensation based on previous robot model overlap_positions_.clear(); @@ -464,6 +466,44 @@ void DragonFullVectoringController::rotorInterfereCompensation() } interfrence_marker_pub_.publish(interference_marker_msg); + + if(overlap_rotors_.size() > 0) + { + std::stringstream ss; + for(int i = 0; i < overlap_rotors_.size(); i++) + ss << overlap_rotors_.at(i) << " -> " << overlap_segments_.at(i) << "; "; + ROS_DEBUG_STREAM("rotor interference: " << ss.str()); + } +} + +void DragonFullVectoringController::rotorInterfereCompensate(Eigen::VectorXd& target_wrench_acc) +{ + double mass_inv = 1 / robot_model_->getMass(); + Eigen::Matrix3d inertia_inv = robot_model_->getInertia().inverse(); + + Eigen::VectorXd rotor_interfere_comp_acc = Eigen::VectorXd::Zero(6); + rotor_interfere_comp_acc(2) = mass_inv * rotor_interfere_comp_wrench_(2); + + bool torque_comp = false; + if(overlap_positions_.size() == 1) + { + ROS_INFO_STREAM("compsensate the torque resulted from rotor interference: " << overlap_rotors_.at(0) << " to " << overlap_segments_.at(0)); + torque_comp = true; + } + + if(overlap_positions_.size() == 2) + { + if(overlap_rotors_.at(0).substr(0, 6) == overlap_rotors_.at(1).substr(0, 6)) + { + ROS_INFO_STREAM("do rotor interference torque compensation: " << overlap_rotors_.at(0) << " and " << overlap_rotors_.at(1)); + torque_comp = true; + } + } + + if(torque_comp) + rotor_interfere_comp_acc.tail(3) = inertia_inv * rotor_interfere_comp_wrench_.tail(3); + + target_wrench_acc += rotor_interfere_comp_acc; } void DragonFullVectoringController::controlCore() @@ -508,39 +548,9 @@ void DragonFullVectoringController::controlCore() Eigen::Matrix3d inertia_inv = robot_model_->getInertia().inverse(); double mass_inv = 1 / robot_model_->getMass(); - // rotor interference compensation - rotorInterfereCompensation(); - - Eigen::VectorXd rotor_interfere_comp_acc = Eigen::VectorXd::Zero(6); - rotor_interfere_comp_acc(2) = mass_inv * rotor_interfere_comp_wrench_(2); - - bool torque_comp = false; - if(overlap_positions_.size() == 1) - { - ROS_INFO_STREAM("compsensate the torque resulted from rotor interference: " << overlap_rotors_.at(0) << " to " << overlap_segments_.at(0)); - torque_comp = true; - } - - if(overlap_positions_.size() == 2) - { - if(overlap_rotors_.at(0).substr(0, 6) == overlap_rotors_.at(1).substr(0, 6)) - { - ROS_INFO_STREAM("do rotor interference torque compensation: " << overlap_rotors_.at(0) << " and " << overlap_rotors_.at(1)); - torque_comp = true; - } - } - - if(torque_comp) - { - rotor_interfere_comp_acc.tail(3) = inertia_inv * rotor_interfere_comp_wrench_.tail(3); - } - - if(rotor_interfere_compensate_) // TODO move this scope - target_wrench_acc_cog += rotor_interfere_comp_acc; - - std::stringstream ss; - for(int i = 0; i < overlap_rotors_.size(); i++) ss << overlap_rotors_.at(i) << " -> " << overlap_segments_.at(i) << "; "; - if(overlap_rotors_.size() > 0) ROS_DEBUG_STREAM("rotor interference: " << ss.str()); + // rotor interference + if(rotor_interfere_estimate_) rotorInterfereEstimate(); + if(rotor_interfere_compensate_) rotorInterfereCompensate(target_wrench_acc_cog); setTargetWrenchAccCog(target_wrench_acc_cog); @@ -558,6 +568,70 @@ void DragonFullVectoringController::controlCore() int gimbal_lock_num = std::accumulate(roll_locked_gimbal.begin(), roll_locked_gimbal.end(), 0); Eigen::MatrixXd full_q_mat = Eigen::MatrixXd::Zero(6, 3 * motor_num_ - gimbal_lock_num); + // for considering joint torque + robot_model_for_control_->calcBasicKinematicsJacobian(); // for get joint torque + const auto& thrust_coord_jacobians = robot_model_for_control_->getThrustCoordJacobians(); + const int joint_num = robot_model_for_control_->getJointNum(); + const int link_joint_num = robot_model_for_control_->getLinkJointIndices().size(); + const int rotor_num = robot_model_for_control_->getRotorNum(); + const int f_ndof = 3 * rotor_num - gimbal_lock_num; + + Eigen::MatrixXd A1_all = Eigen::MatrixXd::Zero(joint_num, f_ndof); + int cnt = 0; + for (int i = 0; i < rotor_num; i++) { + Eigen::MatrixXd a = -thrust_coord_jacobians.at(i).topRows(3).rightCols(joint_num).transpose(); + Eigen::MatrixXd r = links_rotation_from_cog.at(i); + if(roll_locked_gimbal.at(i) == 0) { /* 3DoF */ + // describe force w.r.t. local (link) frame + A1_all.middleCols(cnt, 3) = a * r; + cnt += 3; + } + else { /* gimbal lock: 2Dof */ + // describe force w.r.t. local (link) frame + Eigen::MatrixXd mask(3,2); + mask << 1, 0, 0, 0, 0, 1; + Eigen::MatrixXd r_dash = aerial_robot_model::kdlToEigen(KDL::Rotation::RPY(gimbal_nominal_angles.at(i * 2), 0, 0)); + A1_all.middleCols(cnt, 2) = a * r * r_dash * mask; + cnt += 2; + } + } + Eigen::VectorXd b1_all = Eigen::VectorXd::Zero(joint_num); + + Eigen::VectorXd real_g = robot_model_for_control_->getGravity(); + Eigen::VectorXd g = real_g; + if(navigator_->getNaviState() == aerial_robot_navigation::TAKEOFF_STATE) { + if (on_ground_) { + g = target_wrench_acc_cog(Z) * real_g.normalized(); + // ROS_INFO_THROTTLE(0.1, "reduced g"); + } + + if (target_wrench_acc_cog(Z) > joint_torque_thresh_ * real_g.norm()) { + on_ground_ = false; + } + } + for(const auto& inertia : robot_model_for_control_->getInertiaMap()) { + Eigen::MatrixXd cog_coord_jacobian = robot_model_for_control_->getJacobian(gimbal_processed_joint, inertia.first, inertia.second.getCOG()); + b1_all -= cog_coord_jacobian.rightCols(joint_num).transpose() * inertia.second.getMass() * (-g); + } + + // only consider link joint + Eigen::MatrixXd A1 = Eigen::MatrixXd::Zero(link_joint_num, f_ndof); + Eigen::VectorXd b1 = Eigen::VectorXd::Zero(link_joint_num); + cnt = 0; + for(int i = 0; i < joint_num; i++) { + if(robot_model_for_control_->getJointNames().at(i) == robot_model_for_control_->getLinkJointNames().at(cnt)) + { + A1.row(cnt) = A1_all.row(i); + b1(cnt) = b1_all(i); + cnt++; + } + if(cnt == link_joint_num) break; + } + Eigen::MatrixXd W1 = thrust_force_weight_ * Eigen::MatrixXd::Identity(f_ndof, f_ndof); + Eigen::MatrixXd W2 = joint_torque_weight_ * Eigen::MatrixXd::Identity(link_joint_num, link_joint_num); + Eigen::MatrixXd Psi = (W1 + A1.transpose() * W2 * A1).inverse(); + + double t = ros::Time::now().toSec(); for(int j = 0; j < allocation_refine_max_iteration_; j++) { @@ -587,12 +661,32 @@ void DragonFullVectoringController::controlCore() } } - // TODO: check!! + + // the offset for the joint torque constraint + tf::Vector3 acc_bias_w(0, 0, pid_controllers_.at(Z).result()); + //tf::Vector3 acc_bias_w(0, 0, pid_controllers_.at(Z).getPTerm() + pid_controllers_.at(Z).getITerm()); + tf::Vector3 acc_bias_cog = uav_rot.inverse() * acc_bias_w; + Eigen::VectorXd wrench_bias = Eigen::VectorXd::Zero(6); + wrench_bias.head(3) = Eigen::Vector3d(acc_bias_cog.x(), acc_bias_cog.y(), acc_bias_cog.z()); + + inertia_inv = robot_model_for_control_->getInertia().inverse(); // update - full_q_mat.topRows(3) = mass_inv * full_q_mat.topRows(3) ; + full_q_mat.topRows(3) = mass_inv * full_q_mat.topRows(3); full_q_mat.bottomRows(3) = inertia_inv * full_q_mat.bottomRows(3); Eigen::MatrixXd full_q_mat_inv = aerial_robot_model::pseudoinverse(full_q_mat); - target_vectoring_f_ = full_q_mat_inv * target_wrench_acc_cog; + target_vectoring_f_ = full_q_mat_inv * (target_wrench_acc_cog - wrench_bias); + + //consider joint torque + Eigen::VectorXd b2 = -wrench_bias; // only consider the bias + Eigen::MatrixXd A2 = full_q_mat; + Eigen::MatrixXd C = Psi * A2.transpose() * (A2 * Psi * A2.transpose()).inverse(); + Eigen::MatrixXd E = Eigen::MatrixXd::Identity(f_ndof, f_ndof); + target_vectoring_f_ += (- C * b2 - (E - C * A2) * Psi * A1.transpose() * W2 * b1); + // target_vectoring_f_ = (- C * (-target_wrench_acc_cog) - (E - C * A2) * Psi * A1.transpose() * W2 * b1); // all components for joint torque restraint + // ROS_INFO_STREAM_THROTTLE(1.0, "total acc is : " << target_wrench_acc_cog.transpose() << "; diff is: " << (A2 * target_vectoring_f_ + b2).transpose()); + // ROS_INFO_STREAM_THROTTLE(1.0, "total joint torque is: " << (A1 * target_vectoring_f_ + b1).transpose()); + // ROS_INFO_STREAM_THROTTLE(1.0, "target thrust is: " << target_vectoring_f_.transpose()); + if(control_verbose_) ROS_DEBUG_STREAM("vectoring force for control in iteration "<< j+1 << ": " << target_vectoring_f_.transpose()); last_col = 0; @@ -603,10 +697,6 @@ void DragonFullVectoringController::controlCore() Eigen::Vector3d f_i = target_vectoring_f_.segment(last_col, 3); target_base_thrust_.at(i) = f_i.norm(); - /* before takeoff, the form is level -> joint_pitch = 0*/ - if(!start_rp_integration_) - f_i.z() = dragon_robot_model_->getHoverVectoringF()[last_col + 2]; // approximation: stable state - double gimbal_i_roll = atan2(-f_i.y(), f_i.z()); double gimbal_i_pitch = atan2(f_i.x(), -f_i.y() * sin(gimbal_i_roll) + f_i.z() * cos(gimbal_i_roll)); @@ -620,10 +710,6 @@ void DragonFullVectoringController::controlCore() Eigen::VectorXd f_i = target_vectoring_f_.segment(last_col, 2); target_base_thrust_.at(i) = f_i.norm(); - /* before takeoff, the form is level -> joint_pitch = 0*/ - if(!start_rp_integration_) - f_i(1) = dragon_robot_model_->getHoverVectoringF()[last_col + 1]; // approximation: stable state - target_gimbal_angles_.at(2 * i) = gimbal_nominal_angles.at(2 * i); // lock the gimbal roll target_gimbal_angles_.at(2 * i + 1) = atan2(f_i(0), f_i(1)); @@ -631,6 +717,12 @@ void DragonFullVectoringController::controlCore() } } + /* before leave ground in takeoff phase, no active gimbal control, so use nominal values */ + if(!start_rp_integration_ && target_wrench_acc_cog(Z) < takeoff_acc_z_thresh_) + { + target_gimbal_angles_ = gimbal_nominal_angles; + } + std::vector prev_rotors_origin_from_cog = rotors_origin_from_cog; for(int i = 0; i < motor_num_; ++i) { @@ -888,6 +980,12 @@ void DragonFullVectoringController::sendCmd() force_msg.axes.push_back(rotor_interfere_force_(i)); } +void DragonFullVectoringController::reset() { + PoseLinearController::reset(); + on_ground_ = true; +} + + void DragonFullVectoringController::rosParamInit() { ros::NodeHandle control_nh(nh_, "controller"); @@ -903,7 +1001,10 @@ void DragonFullVectoringController::rosParamInit() momentum_observer_matrix_.topRows(3) *= force_weight; momentum_observer_matrix_.bottomRows(3) *= torque_weight; + getParam(control_nh, "rotor_interfere_estimate", rotor_interfere_estimate_, true); getParam(control_nh, "rotor_interfere_compensate", rotor_interfere_compensate_, true); + if(rotor_interfere_compensate_) rotor_interfere_estimate_ = true; + getParam(control_nh, "external_wrench_lpf_rate", wrench_lpf_rate_, 0.5); getParam(control_nh, "external_fz_bias_thresh", fz_bias_thresh_, 1.0); getParam(control_nh, "rotor_interfere_comp_wrench_lpf_rate", comp_wrench_lpf_rate_, 0.5); @@ -915,6 +1016,12 @@ void DragonFullVectoringController::rosParamInit() getParam(control_nh, "overlap_dist_link_relax_thresh", overlap_dist_link_relax_thresh_, 0.08); getParam(control_nh, "overlap_dist_rotor_relax_thresh", overlap_dist_rotor_relax_thresh_, 0.08); getParam(control_nh, "overlap_dist_inter_joint_thresh", overlap_dist_inter_joint_thresh_, 0.08); + + getParam(control_nh, "takeoff_acc_z_thresh", takeoff_acc_z_thresh_, 8.0); + + getParam(control_nh, "thrust_force_weight", thrust_force_weight_, 1.0); + getParam(control_nh, "joint_torque_weight", joint_torque_weight_, 1.0); + getParam(control_nh, "joint_torque_thresh", joint_torque_thresh_, 1.0); } /* plugin registration */ diff --git a/robots/dragon/src/dragon_navigation.cpp b/robots/dragon/src/dragon_navigation.cpp index 5630ab5d8..a73175637 100644 --- a/robots/dragon/src/dragon_navigation.cpp +++ b/robots/dragon/src/dragon_navigation.cpp @@ -75,17 +75,16 @@ void DragonNavigator::landingProcess() { if(joint_state.name[i].find("joint") != std::string::npos) { - double target_cmd; - if(joint_state.name[i].find("pitch") != std::string::npos) + double target_cmd = joint_state.position[i]; + if(joint_state.name[i].find("pitch") != std::string::npos) { target_cmd = 0; - else target_cmd = joint_state.position[i]; + } + joint_control_msg.name.push_back(joint_state.name[i]); joint_control_msg.position.push_back(target_cmd); - } } - joint_control_pub_.publish(joint_control_msg); final_target_baselink_rot_.setValue(0, 0, 0); diff --git a/robots/dragon/src/model/full_vectoring_robot_model.cpp b/robots/dragon/src/model/full_vectoring_robot_model.cpp index da9e52905..d9c970f97 100644 --- a/robots/dragon/src/model/full_vectoring_robot_model.cpp +++ b/robots/dragon/src/model/full_vectoring_robot_model.cpp @@ -106,6 +106,9 @@ void FullVectoringRobotModel::getParamFromRos() nh.param("gimbal_roll_change_threshold", gimbal_roll_change_threshold_, 0.02); // rad/s nh.param("min_force_weight", min_force_weight_, 1.0); nh.param("min_torque_weight", min_torque_weight_, 1.0); + + nh.param("thrust_force_weight", thrust_force_weight_, 1.0); + nh.param("joint_torque_weight", joint_torque_weight_, 1.0); } void FullVectoringRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_positions) @@ -317,11 +320,63 @@ void FullVectoringRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_po /* 5.2. convergence */ double t = ros::Time::now().toSec(); + + // for considering joint torque + robot_model_for_plan_->calcBasicKinematicsJacobian(); // for get joint torque + const auto& thrust_coord_jacobians = robot_model_for_plan_->getThrustCoordJacobians(); + const int joint_num = robot_model_for_plan_->getJointNum(); + const int link_joint_num = robot_model_for_plan_->getLinkJointIndices().size(); + const int rotor_num = robot_model_for_plan_->getRotorNum(); + const int f_ndof = 3 * rotor_num - gimbal_lock_num; + + Eigen::MatrixXd A1_all = Eigen::MatrixXd::Zero(joint_num, f_ndof); + int cnt = 0; + for (int i = 0; i < rotor_num; i++) { + Eigen::MatrixXd a = -thrust_coord_jacobians.at(i).topRows(3).rightCols(joint_num).transpose(); + Eigen::MatrixXd r = aerial_robot_model::kdlToEigen(links_rotation_from_cog.at(i)); + if(roll_locked_gimbal.at(i) == 0) { /* 3DoF */ + // describe force w.r.t. local (link) frame + A1_all.middleCols(cnt, 3) = a * r; + cnt += 3; + } + else { /* gimbal lock: 2Dof */ + // describe force w.r.t. local (link) frame + Eigen::MatrixXd mask(3,2); + mask << 1, 0, 0, 0, 0, 1; + Eigen::MatrixXd r_dash = aerial_robot_model::kdlToEigen(KDL::Rotation::RPY(gimbal_nominal_angles_curr.at(i * 2), 0, 0)); + A1_all.middleCols(cnt, 2) = a * r * r_dash * mask; + cnt += 2; + } + } + Eigen::VectorXd b1_all = Eigen::VectorXd::Zero(joint_num); + for(const auto& inertia : robot_model_for_plan_->getInertiaMap()) { + Eigen::MatrixXd cog_coord_jacobian = robot_model_for_plan_->getJacobian(gimbal_processed_joint, inertia.first, inertia.second.getCOG()); + b1_all -= cog_coord_jacobian.rightCols(joint_num).transpose() * inertia.second.getMass() * (-getGravity()); + } + + // only consider link joint + Eigen::MatrixXd A1 = Eigen::MatrixXd::Zero(link_joint_num, f_ndof); + Eigen::VectorXd b1 = Eigen::VectorXd::Zero(link_joint_num); + cnt = 0; + for(int i = 0; i < joint_num; i++) { + if(robot_model_for_plan_->getJointNames().at(i) == robot_model_for_plan_->getLinkJointNames().at(cnt)) + { + A1.row(cnt) = A1_all.row(i); + b1(cnt) = b1_all(i); + cnt++; + } + if(cnt == link_joint_num) break; + } + Eigen::MatrixXd W1 = thrust_force_weight_ * Eigen::MatrixXd::Identity(f_ndof, f_ndof); + Eigen::MatrixXd W2 = joint_torque_weight_ * Eigen::MatrixXd::Identity(link_joint_num, link_joint_num); + Eigen::MatrixXd Psi = (W1 + A1.transpose() * W2 * A1).inverse(); + + for(int j = 0; j < robot_model_refine_max_iteration_; j++) { /* 5.2.1. update the wrench allocation matrix */ std::vector rotors_origin_from_cog = robot_model_for_plan_->getRotorsOriginFromCog(); - Eigen::MatrixXd full_q_mat = Eigen::MatrixXd::Zero(6, 3 * getRotorNum() - gimbal_lock_num); + Eigen::MatrixXd full_q_mat = Eigen::MatrixXd::Zero(6, f_ndof); Eigen::MatrixXd wrench_map = Eigen::MatrixXd::Zero(6, 3); wrench_map.block(0, 0, 3, 3) = Eigen::MatrixXd::Identity(3, 3); Eigen::MatrixXd mask(3,2); @@ -346,7 +401,64 @@ void FullVectoringRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_po } /* 5.2.2. update the vectoring force for hovering and the gimbal angles */ - Eigen::VectorXd hover_vectoring_f = aerial_robot_model::pseudoinverse(full_q_mat) * getGravity() * robot_model_for_plan_->getMass(); + //Eigen::VectorXd hover_vectoring_f = aerial_robot_model::pseudoinverse(full_q_mat) * getGravity() * robot_model_for_plan_->getMass(); + + // consider joint torque +#if 0 + // update the joint due to the gravity every iteration because of the slight change in gimbal angles + robot_model_for_plan_->calcBasicKinematicsJacobian(); + A1_all = Eigen::MatrixXd::Zero(joint_num, f_ndof); + cnt = 0; + for (int i = 0; i < rotor_num; i++) { + Eigen::MatrixXd a = -thrust_coord_jacobians.at(i).topRows(3).rightCols(joint_num).transpose(); + Eigen::MatrixXd r = aerial_robot_model::kdlToEigen(links_rotation_from_cog.at(i)); + if(roll_locked_gimbal.at(i) == 0) { /* 3DoF */ + // describe force w.r.t. local (link) frame + A1_all.middleCols(cnt, 3) = a * r; + cnt += 3; + } + else { /* gimbal lock: 2Dof */ + // describe force w.r.t. local (link) frame + Eigen::MatrixXd r_dash = aerial_robot_model::kdlToEigen(KDL::Rotation::RPY(gimbal_nominal_angles_curr.at(i * 2), 0, 0)); + A1_all.middleCols(cnt, 2) = a * r * r_dash * mask; + cnt += 2; + } + } + + b1_all = Eigen::VectorXd::Zero(joint_num); + for(const auto& inertia : robot_model_for_plan_->getInertiaMap()) { + Eigen::MatrixXd cog_coord_jacobian = robot_model_for_plan_->getJacobian(gimbal_processed_joint, inertia.first, inertia.second.getCOG()); + b1_all -= cog_coord_jacobian.rightCols(joint_num).transpose() * inertia.second.getMass() * (-getGravity()); + // auto t = cog_coord_jacobian.rightCols(joint_num).transpose() * inertia.second.getMass() * (-getGravity()); + // ROS_INFO_STREAM("segment: " << inertia.first << "; cog torque: " << t.head(10).transpose()); + } + + // only consider link joint + A1 = Eigen::MatrixXd::Zero(link_joint_num, f_ndof); + b1 = Eigen::VectorXd::Zero(link_joint_num); + cnt = 0; + for(int i = 0; i < joint_num; i++) { + if(robot_model_for_plan_->getJointNames().at(i) == robot_model_for_plan_->getLinkJointNames().at(cnt)) + { + A1.row(cnt) = A1_all.row(i); + b1(cnt) = b1_all(i); + cnt++; + } + if(cnt == link_joint_num) break; + } +#endif + + Eigen::VectorXd b2 = -getGravity() * robot_model_for_plan_->getMass(); + Eigen::MatrixXd A2 = full_q_mat; + Eigen::MatrixXd C = Psi * A2.transpose() * (A2 * Psi * A2.transpose()).inverse(); + Eigen::MatrixXd E = Eigen::MatrixXd::Identity(f_ndof, f_ndof); + Eigen::VectorXd hover_vectoring_f = - C * b2 - (E - C * A2) * Psi * A1.transpose() * W2 * b1; + + // ROS_INFO_STREAM_THROTTLE(1.0, "hovering thrust raw is: " << hover_vectoring_f.transpose()); + // ROS_INFO_STREAM_THROTTLE(1.0, "total static wrench is: " << (A2 * hover_vectoring_f + b2).transpose()); + // ROS_INFO_STREAM_THROTTLE(1.0, "total static joint torque is: " << (A1 * hover_vectoring_f + b1).transpose()); + + Eigen::VectorXd static_thrust = Eigen::VectorXd::Zero(getRotorNum()); if(debug_verbose_) ROS_DEBUG_STREAM("vectoring force for hovering in iteration "<< j+1 << ": " << hover_vectoring_f.transpose()); last_col = 0; @@ -397,15 +509,50 @@ void FullVectoringRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_po setStaticThrust(static_thrust); setVectoringForceWrenchMatrix(full_q_mat); - hover_vectoring_f_ = hover_vectoring_f; + + // convert hovering vectoring f to CoG coord + hover_vectoring_f_ = Eigen::VectorXd::Zero(3 * getRotorNum()); + Eigen::MatrixXd mask(3,2); mask << 1, 0, 0, 0, 0, 1; + int col = 0; + for(int i = 0; i < getRotorNum(); i++) + { + if(roll_locked_gimbal.at(i) == 0) + { + hover_vectoring_f_.segment(3 * i, 3) = aerial_robot_model::kdlToEigen(links_rotation_from_cog.at(i)) * hover_vectoring_f.segment(col, 3); + col += 3; + } + else + { /* gimbal lock: 2Dof */ + hover_vectoring_f_.segment(3 * i, 3) = aerial_robot_model::kdlToEigen(links_rotation_from_cog.at(i)) * aerial_robot_model::kdlToEigen(KDL::Rotation::RPY(gimbal_nominal_angles_curr.at(i * 2), 0, 0)) * mask * hover_vectoring_f.segment(col, 2); + col += 2; + } + } break; } if(j == robot_model_refine_max_iteration_ - 1) { setStaticThrust(static_thrust); - hover_vectoring_f_ = hover_vectoring_f; setVectoringForceWrenchMatrix(full_q_mat); + + // convert hovering vectoring f to CoG coord + hover_vectoring_f_ = Eigen::VectorXd::Zero(3 * getRotorNum()); + Eigen::MatrixXd mask(3,2); mask << 1, 0, 0, 0, 0, 1; + int col = 0; + for(int i = 0; i < getRotorNum(); i++) + { + if(roll_locked_gimbal.at(i) == 0) + { + hover_vectoring_f_.segment(3 * i, 3) = aerial_robot_model::kdlToEigen(links_rotation_from_cog.at(i)) * hover_vectoring_f.segment(col, 3); + col += 3; + } + else + { /* gimbal lock: 2Dof */ + hover_vectoring_f_.segment(3 * i, 3) = aerial_robot_model::kdlToEigen(links_rotation_from_cog.at(i)) * aerial_robot_model::kdlToEigen(KDL::Rotation::RPY(gimbal_nominal_angles_curr.at(i * 2), 0, 0)) * mask * hover_vectoring_f.segment(col, 2); + col += 2; + } + } + ROS_WARN_STREAM_NAMED("robot_model", "refine rotor origin: can not converge in iteration " << j+1 << " max_diff " << max_diff); } } @@ -651,6 +798,59 @@ there is a diffiretial chain about the roll angle. But we here approximate it to #endif } + +void FullVectoringRobotModel::calcStaticThrust() +{ + calcWrenchMatrixOnRoot(); // TODO: redundant, but necessary for calculate external wrench comp thrust static for current mode. +} + +void FullVectoringRobotModel::addCompThrustToStaticThrust() +{ + vectoring_thrust_ = wrench_comp_thrust_ + hover_vectoring_f_; + + Eigen::VectorXd static_thrust = getStaticThrust(); + for(int i = 0; i < getRotorNum(); i++) + static_thrust(i) = vectoring_thrust_.segment(3 * i, 3).norm(); + setStaticThrust(static_thrust); +} + +void FullVectoringRobotModel::calcJointTorque(const bool update_jacobian) +{ + const auto& sigma = getRotorDirection(); + const auto& joint_positions = getJointPositions(); + const auto& thrust_coord_jacobians = getThrustCoordJacobians(); + const auto& inertia_map = getInertiaMap(); + const int joint_num = getJointNum(); + const int rotor_num = getRotorNum(); + const double m_f_rate = getMFRate(); + + if(update_jacobian) + calcBasicKinematicsJacobian(); // update thrust_coord_jacobians_ + + Eigen::VectorXd joint_torque = Eigen::VectorXd::Zero(joint_num); + + // update coord jacobians for cog point and convert to joint torque + std::vector cog_coord_jacobians; + for(const auto& inertia : inertia_map) + { + cog_coord_jacobians.push_back(RobotModel::getJacobian(joint_positions, inertia.first, inertia.second.getCOG())); + joint_torque -= cog_coord_jacobians.back().rightCols(joint_num).transpose() * inertia.second.getMass() * (-getGravity()); + // auto t = cog_coord_jacobians.back().rightCols(joint_num).transpose() * inertia.second.getMass() * (-getGravity()); + // ROS_INFO_STREAM("segment: " << inertia.first << "; cog torque: " << t.head(10).transpose()); + } + setCOGCoordJacobians(cog_coord_jacobians); // TODO: should not update jacobian here + + // ROS_INFO_STREAM_THROTTLE(1.0, "cog joint torque: " << joint_torque.transpose()); + + // thrust + for (int i = 0; i < rotor_num; ++i) { + joint_torque -= thrust_coord_jacobians.at(i).topRows(3).rightCols(joint_num).transpose() * hover_vectoring_f_.segment(3 * i, 3); + } + + setJointTorque(joint_torque); +} + + /* plugin registration */ #include PLUGINLIB_EXPORT_CLASS(Dragon::FullVectoringRobotModel, aerial_robot_model::RobotModel); diff --git a/robots/hydrus/config/quad/default_mode_201907/Servo.yaml b/robots/hydrus/config/quad/default_mode_201907/Servo.yaml index 7a5793ed9..8cbe6c2fb 100644 --- a/robots/hydrus/config/quad/default_mode_201907/Servo.yaml +++ b/robots/hydrus/config/quad/default_mode_201907/Servo.yaml @@ -1,7 +1,4 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: 1 diff --git a/robots/hydrus/config/quad/old_model_tx2_rs_t265_201906/Servo.yaml b/robots/hydrus/config/quad/old_model_tx2_rs_t265_201906/Servo.yaml index 9e1bef575..522ad8073 100644 --- a/robots/hydrus/config/quad/old_model_tx2_rs_t265_201906/Servo.yaml +++ b/robots/hydrus/config/quad/old_model_tx2_rs_t265_201906/Servo.yaml @@ -1,7 +1,4 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: 1 diff --git a/robots/hydrus/config/quad/old_model_tx2_zed_201810/Servo.yaml b/robots/hydrus/config/quad/old_model_tx2_zed_201810/Servo.yaml index d2f848fba..deea48d70 100644 --- a/robots/hydrus/config/quad/old_model_tx2_zed_201810/Servo.yaml +++ b/robots/hydrus/config/quad/old_model_tx2_zed_201810/Servo.yaml @@ -1,7 +1,4 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: 1 diff --git a/robots/hydrus/config/quad/tilt_10deg_15inch_202106/Servo.yaml b/robots/hydrus/config/quad/tilt_10deg_15inch_202106/Servo.yaml index 545a72cda..51156e774 100644 --- a/robots/hydrus/config/quad/tilt_10deg_15inch_202106/Servo.yaml +++ b/robots/hydrus/config/quad/tilt_10deg_15inch_202106/Servo.yaml @@ -1,7 +1,4 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: 1 diff --git a/robots/hydrus/config/quad/tilt_10deg_201907/Servo.yaml b/robots/hydrus/config/quad/tilt_10deg_201907/Servo.yaml index 545a72cda..51156e774 100644 --- a/robots/hydrus/config/quad/tilt_10deg_201907/Servo.yaml +++ b/robots/hydrus/config/quad/tilt_10deg_201907/Servo.yaml @@ -1,7 +1,4 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: 1 diff --git a/robots/hydrus/config/quad/tilt_20deg_201907/Servo.yaml b/robots/hydrus/config/quad/tilt_20deg_201907/Servo.yaml index 545a72cda..51156e774 100644 --- a/robots/hydrus/config/quad/tilt_20deg_201907/Servo.yaml +++ b/robots/hydrus/config/quad/tilt_20deg_201907/Servo.yaml @@ -1,7 +1,4 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: 1 diff --git a/robots/hydrus_xi/config/hex/Servo.yaml b/robots/hydrus_xi/config/hex/Servo.yaml index 7b86eda4c..c78947cd1 100644 --- a/robots/hydrus_xi/config/hex/Servo.yaml +++ b/robots/hydrus_xi/config/hex/Servo.yaml @@ -1,7 +1,4 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: -1 diff --git a/robots/hydrus_xi/config/hex_branch/Servo.yaml b/robots/hydrus_xi/config/hex_branch/Servo.yaml index 9e59e24a3..84eb659fb 100644 --- a/robots/hydrus_xi/config/hex_branch/Servo.yaml +++ b/robots/hydrus_xi/config/hex_branch/Servo.yaml @@ -1,7 +1,4 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: -1 diff --git a/robots/hydrus_xi/config/quad/Servo.yaml b/robots/hydrus_xi/config/quad/Servo.yaml index 254339a06..0e743e932 100644 --- a/robots/hydrus_xi/config/quad/Servo.yaml +++ b/robots/hydrus_xi/config/quad/Servo.yaml @@ -1,7 +1,4 @@ servo_controller: - state_sub_topic: servo/states - ctrl_pub_topic: servo/target_states - torque_pub_topic: servo/torque_enable joints: angle_sgn: 1 diff --git a/robots/spidar/CMakeLists.txt b/robots/spidar/CMakeLists.txt new file mode 100644 index 000000000..df86773a5 --- /dev/null +++ b/robots/spidar/CMakeLists.txt @@ -0,0 +1,235 @@ +cmake_minimum_required(VERSION 2.8.3) +project(spidar) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++14) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + aerial_robot_base + aerial_robot_model + aerial_robot_msgs + aerial_robot_simulation + aerial_robot_control + dragon + roscpp + sensor_msgs + pluginlib + spinal + std_msgs +) + +find_package(NLopt REQUIRED) +find_package(OsqpEigen REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# aerial_robot_msgs# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include + LIBRARIES spidar_robot_model spidar_controllib + CATKIN_DEPENDS aerial_robot_base aerial_robot_model aerial_robot_msgs aerial_robot_simulation dragon roscpp sensor_msgs spinal std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${NLOPT_INCLUDE_DIRS} + ${OsqpEigen_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/spidar.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/spidar_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +add_library(spidar_robot_model + src/model/hydrus_like_robot_model.cpp + src/model/full_vectoring_robot_model.cpp + src/model/ground_robot_model.cpp) +target_link_libraries(spidar_robot_model ${catkin_LIBRARIES} ${NLOPT_LIBRARIES} ${OsqpEigen_LIBRARIES}) + +add_library(spidar_controllib src/control/walk_control.cpp) +target_link_libraries (spidar_controllib ${catkin_LIBRARIES} spidar_robot_model ${OsqpEigen_LIBRARIES}) + + +add_library(spidar_navigation + src/navigation/walk_navigation.cpp + src/navigation/flight_navigation.cpp) +target_link_libraries(spidar_navigation ${catkin_LIBRARIES} ${OsqpEigen_LIBRARIES}) # no need to add spidar_controllib + + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_spidar.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/robots/spidar/bin/rosbag_play_spider.sh b/robots/spidar/bin/rosbag_play_spider.sh new file mode 100755 index 000000000..28fd9504c --- /dev/null +++ b/robots/spidar/bin/rosbag_play_spider.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +rosbag play $1 --pause --clock /spidar/joints_ctrl:=/spidar/joints_ctrl_orig /spidar/joints_torque_ctrl:=/spidar/joints_torque_ctrl_orig /spidar/debug/pose/pid:=/spidar/debug/pose/pid_orig /spidar/four_axes/command:=/spidar/four_axes/command_orig /spidar/debug/target_vectoring_force:=/spidar/debug/target_vectoring_force_orig /spidar/servo/target_states:=/spidar/servo/target_states_orig ${@:2} diff --git a/robots/spidar/config/octo/Battery.yaml b/robots/spidar/config/octo/Battery.yaml new file mode 100644 index 000000000..4533a9fcd --- /dev/null +++ b/robots/spidar/config/octo/Battery.yaml @@ -0,0 +1,5 @@ +bat_info: + bat_cell: 6 + bat_resistance: 0.08 # [m Ohm] + hovering_current: 10 #[A], MN3510, prop14inch, 3 ~ 4.5 + low_voltage_thre: 1 #[100%] diff --git a/robots/spidar/config/octo/MotorInfo.yaml b/robots/spidar/config/octo/MotorInfo.yaml new file mode 100644 index 000000000..a8c078b0d --- /dev/null +++ b/robots/spidar/config/octo/MotorInfo.yaml @@ -0,0 +1,44 @@ +motor_info: + min_pwm: 0.54 + max_pwm: 0.92 # Not affected by voltage + min_thrust: 0 + force_landing_thrust: 7 #[N] + pwm_conversion_mode: 1 # Polynominal Mode + vel_ref_num: 4 + ref1: + voltage: 25.2 + max_thrust: 20.26 + polynominal4: 2.539831 # x 10^4 + polynominal3: -15.430486 # x10^3 + polynominal2: 26.10449153 # x10^2 + polynominal1: 8.542191758 # x10 + polynominal0: 53.26142529 # x1 + ref2: + voltage: 24.2 + max_thrust: 18.07 + polynominal4: 4.471272 # x 10^4 + polynominal3: -22.8613135 # x10^3 + polynominal2: 34.52944303 # x10^2 + polynominal1: 6.990587655 # x10 + polynominal0: 53.55660546 # x1 + ref3: + voltage: 23.2 + max_thrust: 17.35 + polynominal4: 3.89786 # x 10^4 + polynominal3: -21.7499721 # x10^3 + polynominal2: 33.08787072 # x10^2 + polynominal1: 10.11759403 # x10 + polynominal0: 53.3154616 # x1 + ref4: + voltage: 22.2 + max_thrust: 15.91 + polynominal4: 2.940051 # x 10^4 + polynominal3: -19.6361097 # x10^3 + polynominal2: 30.85354129 # x10^2 + polynominal1: 13.24809567 # x10 + polynominal0: 53.05019009 # x1 + + # for simualtion + rotor_damping_rate: 0.1 # = 0.001 / (0.01 + 0.001); 0.01: time constant; 0.001: dt + rotor_force_noise: 0.1 # not sure, but good performance in gazebo + dual_rotor_moment_noise: 0.2 # not sure, but good performance in gazebo (0.5 OK) diff --git a/robots/spidar/config/octo/RvizInit.yaml b/robots/spidar/config/octo/RvizInit.yaml new file mode 100644 index 000000000..ac6c3156c --- /dev/null +++ b/robots/spidar/config/octo/RvizInit.yaml @@ -0,0 +1,17 @@ +zeros: + joint1_yaw: 0.0 + joint1_pitch: -0.3 + joint2_yaw: 0.0 + joint2_pitch: 1.4 + joint3_yaw: 0.0 + joint3_pitch: -0.3 + joint4_yaw: 0.0 + joint4_pitch: 1.4 + joint5_yaw: 0.0 + joint5_pitch: -0.3 + joint6_yaw: 0.0 + joint6_pitch: 1.4 + joint7_yaw: 0.0 + joint7_pitch: -0.3 + joint8_yaw: 0.0 + joint8_pitch: 1.4 diff --git a/robots/spidar/config/octo/Servo.yaml b/robots/spidar/config/octo/Servo.yaml new file mode 100644 index 000000000..6cb2164ba --- /dev/null +++ b/robots/spidar/config/octo/Servo.yaml @@ -0,0 +1,159 @@ +servo_controller: + + joints: + angle_sgn: 1 + angle_scale: 0.00076699 + zero_point_offset: 2047 + torque_scale: 0.03 # Nm/load real measure: [0.033 ~ 0.037] 5Nm -> 140 or 3.1Nm -> 90 + # torque_scale: 0.0126 # datasheet: K_I * A/bit * pulley (3.3 / 0.7) * (1.34/ 1000) * 2 + load_kp: 23.4375 # load/bit POS_KP / 128 = 3000 / 128 + + # for low pass filter + filter_flag: false + + # for simulation + simulation: + pid: {p: 50.0, i: 1.0, d: 5.0, i_clamp_min: -6.6, i_clamp_max: 6.6} + init_value: 0 + type: effort_controllers/JointPositionController + + controller01: + id: 0 + name: joint1_yaw + angle_sgn: -1 + controller02: + id: 1 + name: joint1_pitch + angle_sgn: -1 + controller03: + id: 4 + name: joint2_yaw + angle_sgn: -1 + controller04: + id: 5 + name: joint2_pitch + angle_sgn: 1 + controller05: + id: 8 + name: joint3_yaw + angle_sgn: -1 + controller06: + id: 9 + name: joint3_pitch + angle_sgn: -1 + controller07: + id: 12 + name: joint4_yaw + angle_sgn: -1 + controller08: + id: 13 + name: joint4_pitch + angle_sgn: 1 + controller09: + id: 16 + name: joint5_yaw + angle_sgn: -1 + controller10: + id: 17 + name: joint5_pitch + angle_sgn: -1 + controller11: + id: 20 + name: joint6_yaw + angle_sgn: -1 + controller12: + id: 21 + name: joint6_pitch + angle_sgn: 1 + controller13: + id: 24 + name: joint7_yaw + angle_sgn: -1 + controller14: + id: 25 + name: joint7_pitch + angle_sgn: -1 + controller15: + id: 28 + name: joint8_yaw + angle_sgn: -1 + controller16: + id: 29 + name: joint8_pitch + angle_sgn: 1 + + gimbals: + + angle_sgn: -1 + zero_point_offset: 2047 + + simulation: + pid: {p: 50.0, i: 0.1, d: 1.0, i_clamp_min: -1.5, i_clamp_max: 1.5} + init_value: 0 + type: effort_controllers/JointPositionController + + controller01: + id: 2 + name: gimbal1_roll + angle_scale: 0.000920388 + controller02: + id: 3 + name: gimbal1_pitch + angle_scale: 0.00115048 + controller03: + id: 6 + name: gimbal2_roll + angle_scale: 0.000920388 + controller04: + id: 7 + name: gimbal2_pitch + angle_scale: 0.00115048 + controller05: + id: 10 + name: gimbal3_roll + angle_scale: 0.000920388 + controller06: + id: 11 + name: gimbal3_pitch + angle_scale: 0.00115048 + controller07: + id: 14 + name: gimbal4_roll + angle_scale: 0.000920388 + controller08: + id: 15 + name: gimbal4_pitch + angle_scale: 0.00115048 + controller09: + id: 18 + name: gimbal5_roll + angle_scale: 0.000920388 + controller10: + id: 19 + name: gimbal5_pitch + angle_scale: 0.00115048 + controller11: + id: 22 + name: gimbal6_roll + angle_scale: 0.000920388 + controller12: + id: 23 + name: gimbal6_pitch + angle_scale: 0.00115048 + controller13: + id: 26 + name: gimbal7_roll + angle_scale: 0.000920388 + controller14: + id: 27 + name: gimbal7_pitch + angle_scale: 0.00115048 + controller15: + id: 30 + name: gimbal8_roll + angle_scale: 0.000920388 + controller16: + id: 31 + name: gimbal8_pitch + angle_scale: 0.00115048 + diff --git a/robots/spidar/config/octo/Simulation.yaml b/robots/spidar/config/octo/Simulation.yaml new file mode 100644 index 000000000..0d17670f5 --- /dev/null +++ b/robots/spidar/config/octo/Simulation.yaml @@ -0,0 +1,28 @@ +# overwrite parameter for simulation + +sensor_plugin: + mocap: + ground_truth_sub_name: ground_truth + gps: + estimate_mode: 4 #1 << 2 + ned_flag: true # hector_gazebo_plugins/GPS + +# ground truth parameter +# global namespace +simulation: + # gaussian noise + ground_truth_pos_noise: 0.001 + ground_truth_vel_noise: 0.005 + ground_truth_rot_noise: 0.001 + ground_truth_angular_noise: 0.005 + + # drift model: e^(-dt * drift_frequency) * curr_drift + dt * gaussian_kernel(sqrt( 2 * drift_frequency) * drfit)) + # drift diviation: + ground_truth_vel_drift: 0 + ground_truth_rot_drift: 0 + ground_truth_angular_drift: 0 + + # drift frequency: + ground_truth_vel_drift_frequency: 0 + ground_truth_rot_drift_frequency: 0 + ground_truth_angular_drift_frequency: 0 diff --git a/robots/spidar/config/octo/StateEstimation.yaml b/robots/spidar/config/octo/StateEstimation.yaml new file mode 100644 index 000000000..e588186c1 --- /dev/null +++ b/robots/spidar/config/octo/StateEstimation.yaml @@ -0,0 +1,55 @@ +# Sensor Fuser Loader +estimation: + # sensor plugin + sensor_list: + - sensor_plugin/dragon_imu + - sensor_plugin/mocap + - sensor_plugin/alt + - sensor_plugin/gps + + # egomotion estimation + egomotion_list: + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + + # experiment estimation + experiment_list: + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + - kalman_filter/kf_pos_vel_acc + + # specific id(int) of sensor fuser, axis for kf + fuser_egomotion_id1: 8 # 1 << 3 + fuser_egomotion_id2: 16 # 1 << 4 + fuser_egomotion_id3: 32 # 1 << 5 + + fuser_experiment_id1: 8 # 1 << 3 + fuser_experiment_id2: 16 # 1 << 4 + fuser_experiment_id3: 32 # 1 << 5 + + # specific name of sensor fuser + fuser_egomotion_name1: /ee/x + fuser_egomotion_name2: /ee/y + fuser_egomotion_name3: /ee/z + + fuser_experiment_name1: /ex/x + fuser_experiment_name2: /ex/y + fuser_experiment_name3: /ex/z + + +# EGOMOTION_ESTIMATION_MODE = 0 +# EXPERIMENT_MODE = 1 +# GROUND_TRUTH_MODE = 2 + +sensor_plugin: + imu: + estimate_mode: 3 # 1<<0 + 1<<1 + sample_freq: 200.0 + cutoff_freq: 10.0 + mocap: + estimate_mode: 6 # 1<<1 + 1<<2 + alt: + estimate_mode: 1 # 1<<0 + gps: + estimate_mode: 1 # 1<<0 diff --git a/robots/spidar/config/octo/control/FullVectoringControlConfig.yaml b/robots/spidar/config/octo/control/FullVectoringControlConfig.yaml new file mode 100644 index 000000000..b46b812ce --- /dev/null +++ b/robots/spidar/config/octo/control/FullVectoringControlConfig.yaml @@ -0,0 +1,74 @@ +aerial_robot_control_name: aerial_robot_control/dragon_full_vectoring + +controller: + + control_verbose: false + + # gimbal vectoring function check + gimbal_vectoring_check_flag: false + + allocation_refine_max_iteration: 5 + allocation_refine_threshold: 0.0001 + + wrench_estimate_update_rate: 100 + momentum_observer_force_weight: 3 # heavy delay, less noise, 2, 2.5, 3, light delay, more noise. The old parameter 5 has bug + momentum_observer_torque_weight: 2.5 + + rotor_interfere_estimate: false + rotor_interfere_compensate: false + overlap_dist_link_thresh: 0.12 + overlap_dist_link_relax_thresh: 0.14 + overlap_dist_rotor_thresh: 0.1 + overlap_dist_rotor_relax_thresh: 0.12 + overlap_dist_inter_joint_thresh: 0.08 + rotor_interfere_comp_wrench_lpf_rate: 0.1 + rotor_interfere_torque_xy_weight: 5.0 + rotor_interfere_force_dev_weight: 0.1 + external_wrench_lpf_rate: 0.2 + external_fz_bias_thresh: 1.0 + + thrust_force_weight: 1.0 + joint_torque_weight: 0.0 # 10.0 ~ 20.0 + joint_torque_thresh: 1.0 # = target_acc_z / gravity + + xy: + p_gain: 3.6 + i_gain: 0.03 + d_gain: 4 + limit_sum: 10 + limit_p: 10 # [m/s^2] + limit_i: 10 # [m/s^2] + limit_d: 10 # [m/s^2] + force_landing_descending_rate: -1.0 + + z: + p_gain: 2.8 + i_gain: 1.2 + d_gain: 2.8 + limit_err_p: 1.0 + limit_sum: 28 # N for clamping thrust force + limit_p: 20 # m / s^2 + limit_i: 20 # m / s^2 + limit_d: 20 # m / s^2 + landing_err_z: -0.4 + force_landing_descending_rate: -0.5 + + roll_pitch: + p_gain: 15 + i_gain: 0.3 + d_gain: 5 # 5: good, 7: deverge in the takeoff phase + limit_sum: 10 + limit_p: 10 + limit_i: 10 + limit_d: 10 + + yaw: + p_gain: 10 + i_gain: 0.1 + d_gain: 5 + limit_sum: 10 # N for clamping thrust force + limit_p: 10 + limit_i: 10 + limit_d: 10 + limit_err_p: 0.4 + need_d_control: true diff --git a/robots/spidar/config/octo/control/LQIGimbalControlConfig.yaml b/robots/spidar/config/octo/control/LQIGimbalControlConfig.yaml new file mode 100644 index 000000000..223df12c2 --- /dev/null +++ b/robots/spidar/config/octo/control/LQIGimbalControlConfig.yaml @@ -0,0 +1,68 @@ +aerial_robot_control_name: aerial_robot_control/dragon_lqi_gimbal +controller: + + control_verbose: false + + # gimbal vectoring function check + gimbal_vectoring_check_flag: false + + # consider lqi roll/pitch control in spnial when calculating the thrust scalar value + add_lqi_result: false # TODO: true/false have no big difference in gazebo, please test in real_machine + + xy: + p_gain: 3.6 + i_gain: 0.03 + d_gain: 4 + limit_sum: 10 + limit_p: 10 # [m/s^2] + limit_i: 10 # [m/s^2] + limit_d: 10 # [m/s^2] + + z: + limit_err_p: 1.0 + limit_sum: 28 # N for clamping thrust force + limit_p: 20 # m / s^2 + limit_i: 20 # m / s^2 + limit_d: 20 # m / s^2 + landing_err_z: -0.4 + + roll_pitch: + p_gain: 20 + i_gain: 2.0 + d_gain: 0.5 #pitch big noise from gyro + limit_sum: 10 + limit_p: 10 + limit_i: 10 + limit_d: 10 + gimbal_control_p_det_thresh: 0.00025 + gimbal_control_rate_thresh: 0.7 + + yaw: + p_gain: 10 + i_gain: 0.1 + d_gain: 5 + limit_sum: 10 # N for clamping thrust force + limit_p: 10 + limit_i: 10 + limit_d: 10 + limit_err_p: 0.4 + need_d_control: true + + # LQI (roll, pitch, z) + lqi: + gain_generate_rate: 15.0 + gyro_moment_compensation: false + clamp_gain: true + + roll_pitch_p: 400 + roll_pitch_i: 1.0 + roll_pitch_d: 40 + + z_p: 20.0 + z_i: 20.0 + z_d: 30.0 + + r1: 1.0 + r2: 1.0 + r3: 1.0 + r4: 1.0 diff --git a/robots/spidar/config/octo/control/WalkControlConfig.yaml b/robots/spidar/config/octo/control/WalkControlConfig.yaml new file mode 100644 index 000000000..fae5a371e --- /dev/null +++ b/robots/spidar/config/octo/control/WalkControlConfig.yaml @@ -0,0 +1,77 @@ +aerial_robot_control_name: aerial_robot_control/spidar_walk + +controller: + + control_verbose: false + + walk: + joint_ctrl_rate: 10.0 # 10 Hz + joint_torque_control_thresh: 2.0 # Nm + servo_angle_bias: 0.02 # rad + servo_angle_bias_torque: 4 # Nm + servo_max_torque: 6.5 # Nm + servo_torque_change_rate: 2.0 + + thrust_force_weight: 1.0 + joint_torque_weight: 1.0 # 10.0 ~ 20.0 + joint_static_torque_limit: 3.0 + raise_joint_static_torque_limit: 1.5 # < joint_static_torque_limit + + all_joint_position_control: true + + free_leg_torque_mode: false + raise_separate_motion: true + opposite_free_leg_joint_torque_control_mode: true + raise_leg_large_torque_control: true + lower_leg_speed: 0.5 # rad/s + + raise_leg_force_i_gain: 100.0 # /s imediately + modify_leg_force_i_gain: 0.0 # /s + lower_leg_force_i_gain: 0.0 # /s + contact_leg_force_i_gain: 1.0 # /s + + modify_leg_force_ratio_thresh: 0.9 + lower_leg_force_ratio_thresh: 0.9 + + raise_leg_burst_p_gain: 0.0 # ration / rad. e.g., 0.1 / 0.1 + raise_leg_burst_thresh: 0.1 # ratio + raise_leg_burst_bias: 0.1 # rad + + check_interval: 0.1 + + + xy: + p_gain: 0.0 # N/m: + i_gain: 0.0 # + d_gain: 0.0 + limit_sum: 0.0 + limit_p: 0.0 + limit_i: 0.0 + limit_d: 0.0 + + z: + p_gain: 200.0 # N/m: 2N/0.01m + i_gain: 0.0 # 20.0 N/m + d_gain: 0.0 + limit_sum: 20.0 + limit_p: 20.0 + limit_i: 20.0 + limit_d: 20.0 + + link: + p_gain: 25.0 # N/rad: 0.2 rad -> 5 N + i_gain: 0.0 + limit_sum: 5.0 + limit_p: 5.0 + limit_i: 5.0 + limit_d: 5.0 + + joint: + joint_error_angle_thresh: 0.02 # rad + + p_gain: 20.0 # Nm/rad: 0.1 rad -> 2 Nm + i_gain: 0.1 + limit_sum: 0.0 + limit_p: 4.0 + limit_i: 4.0 + limit_d: 4.0 diff --git a/robots/spidar/config/octo/model/FullVectoringRobotModel.yaml b/robots/spidar/config/octo/model/FullVectoringRobotModel.yaml new file mode 100644 index 000000000..11af87858 --- /dev/null +++ b/robots/spidar/config/octo/model/FullVectoringRobotModel.yaml @@ -0,0 +1,21 @@ +### full vectoring robot model + +robot_model_plugin_name: spidar/full_vectoring_robot_model + +# gimbal lock +debug_verbose: false +gimbal_lock_threshold: 0.3 # rad +link_att_threshold: 0.2 # rad +lock_status_change_threshold: 10 +gimbal_delta_angle: 0.3 +robot_model_refine_max_iteration: 5 +robot_model_refine_threshold: 0.01 +gimbal_roll_change_threshold: 0.04 + +min_force_weight: 1.0 +min_torque_weight: 1.0 + +edf_max_tilt: 0.05 + +thrust_force_weight: 1.0 +joint_torque_weight: 10.0 # 10.0 ~ 20.0 diff --git a/robots/spidar/config/octo/model/GroundRobotModel.yaml b/robots/spidar/config/octo/model/GroundRobotModel.yaml new file mode 100644 index 000000000..decbb6f6a --- /dev/null +++ b/robots/spidar/config/octo/model/GroundRobotModel.yaml @@ -0,0 +1,25 @@ +### full vectoring robot model + +robot_model_plugin_name: spidar/ground_robot_model + +# gimbal lock +debug_verbose: false +gimbal_lock_threshold: 0.0 # no gimbal roll lock +link_att_threshold: 0.2 # rad +lock_status_change_threshold: 10 +gimbal_delta_angle: 0.3 +robot_model_refine_max_iteration: 5 +robot_model_refine_threshold: 0.01 +gimbal_roll_change_threshold: 0.04 + +min_force_weight: 1.0 +min_torque_weight: 1.0 + +edf_max_tilt: 0.05 + +thrust_force_weight: 1.0 +joint_torque_weight: 1.0 # 10.0 ~ 20.0 +joint_torque_limit: 4.0 + +calculate_walk_statics: false +#init_free_leg: 0 \ No newline at end of file diff --git a/robots/spidar/config/octo/model/HydrusLikeRobotModel.yaml b/robots/spidar/config/octo/model/HydrusLikeRobotModel.yaml new file mode 100644 index 000000000..db77a040c --- /dev/null +++ b/robots/spidar/config/octo/model/HydrusLikeRobotModel.yaml @@ -0,0 +1,8 @@ +# robot model plugin + +robot_model_plugin_name: spidar/hydrus_like_robot_model + +fc_rp_min_thre: 2.2 +rp_position_margin_thre: 0.1 # deprecated + +edf_max_tilt: 0.05 diff --git a/robots/spidar/config/octo/navigate/FlightNavigateConfig.yaml b/robots/spidar/config/octo/navigate/FlightNavigateConfig.yaml new file mode 100644 index 000000000..748a8ff70 --- /dev/null +++ b/robots/spidar/config/octo/navigate/FlightNavigateConfig.yaml @@ -0,0 +1,35 @@ +# Teleop Basic Param + +flight_navigation_plugin_name: aerial_robot_navigation/spidar/flight_navigation + +navigation: + xy_control_mode: 0 + # World Pos Control Mode: 0 + # World Vel Control Mode: 2 + # Local Vel Control Mode: 3 + # Attitude Control Mode: 4 + + verbose: false + takeoff_height: 1.2 + outdoor_takeoff_height: 1.5 + + # teleop operation + max_target_vel: 0.5 + joy_target_vel_interval: 0.005 # 0.2 / 20 = 0.01, 0.005 ~ 0.01 m/s + joy_target_z_interval: 0.02 + max_target_yaw_rate: 0.1 # 0.05 + teleop_local_frame: fc + + cmd_vel_lev2_gain : 2.0 + nav_vel_limit : 1.0 + + gain_tunning_mode: 0 + max_target_tilt_angle: 0.2 + + # gps waypoint + gps_waypoint_threshold: 3.0 + gps_waypoint_check_du: 1.0 + + land: + inside_land_pitch_angle: -0.25 + outside_land_pitch_angle: 0.72 \ No newline at end of file diff --git a/robots/spidar/config/octo/navigate/WalkNavigateConfig.yaml b/robots/spidar/config/octo/navigate/WalkNavigateConfig.yaml new file mode 100644 index 000000000..69acec01b --- /dev/null +++ b/robots/spidar/config/octo/navigate/WalkNavigateConfig.yaml @@ -0,0 +1,59 @@ +# Teleop Basic Param + +flight_navigation_plugin_name: aerial_robot_navigation/spidar/walk_navigation + +navigation: + xy_control_mode: 0 + # World Pos Control Mode: 0 + # World Vel Control Mode: 2 + # Local Vel Control Mode: 3 + # Attitude Control Mode: 4 + + verbose: false + takeoff_height: 0.6 + outdoor_takeoff_height: 1.5 + + # teleop operation + max_target_vel: 0.5 + joy_target_vel_interval: 0.005 # 0.2 / 20 = 0.01, 0.005 ~ 0.01 m/s + joy_target_z_interval: 0.02 + max_target_yaw_rate: 0.1 # 0.05 + teleop_local_frame: fc + + cmd_vel_lev2_gain : 2.0 + nav_vel_limit : 1.0 + + gain_tunning_mode: 0 + max_target_tilt_angle: 0.2 + + # gps waypoint + gps_waypoint_threshold: 3.0 + gps_waypoint_check_du: 1.0 + + # walk + walk: + raise_angle: 0.2 + raise_converge_thresh: 0.05 + lower_touchdown_thresh: 0.1 + constant_angle_thresh: 0.02 + check_interval: 0.1 + converge_time_thresh: 0.5 + + failsafe: + baselink_rot_thresh: 0.2 + opposite_raise_leg_thresh: 0.2 + + simulation: false + simulated_joint_lpf_rate: 0.2 + + pattern: + total_cycle: 5 + stride: 0.2 # stride for individual leg [m] + move_leg_joint_err_thresh: 0.05 # check the convergence of joint motion in joint_yaw [rad] + converge_du: 0.5 # [s] + baselink_converge_thresh: 0.05 # check the convergence of baselink [m] + front_leg_raise_ratio: 2.0 # the ratio to enlarger the raise angle for front leg + reset_leg_end: false # use the actual state (e.g., joint angles) to reset leg ends + reset_baselink: false # use the actual state (e.g., joint angles) to reset baselink + debug: false + debug_legs: 4 diff --git a/robots/spidar/config/rviz_config b/robots/spidar/config/rviz_config new file mode 100644 index 000000000..640eafa19 --- /dev/null +++ b/robots/spidar/config/rviz_config @@ -0,0 +1,826 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Axes1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 1808 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Axes + Enabled: true + Length: 0.20000000298023224 + Name: Axes + Radius: 0.004999999888241291 + Reference Frame: + Value: true + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + bat1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bat2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bat3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bat4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bat5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bat6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bat7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bat8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + edf1_left: + Alpha: 1 + Show Axes: false + Show Trail: false + edf1_right: + Alpha: 1 + Show Axes: false + Show Trail: false + edf2_left: + Alpha: 1 + Show Axes: false + Show Trail: false + edf2_right: + Alpha: 1 + Show Axes: false + Show Trail: false + edf3_left: + Alpha: 1 + Show Axes: false + Show Trail: false + edf3_right: + Alpha: 1 + Show Axes: false + Show Trail: false + edf4_left: + Alpha: 1 + Show Axes: false + Show Trail: false + edf4_right: + Alpha: 1 + Show Axes: false + Show Trail: false + edf5_left: + Alpha: 1 + Show Axes: false + Show Trail: false + edf5_right: + Alpha: 1 + Show Axes: false + Show Trail: false + edf6_left: + Alpha: 1 + Show Axes: false + Show Trail: false + edf6_right: + Alpha: 1 + Show Axes: false + Show Trail: false + edf7_left: + Alpha: 1 + Show Axes: false + Show Trail: false + edf7_right: + Alpha: 1 + Show Axes: false + Show Trail: false + edf8_left: + Alpha: 1 + Show Axes: false + Show Trail: false + edf8_right: + Alpha: 1 + Show Axes: false + Show Trail: false + end_leg2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + end_leg4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + end_leg6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + end_leg8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fc: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal1_pitch_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal1_roll_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal2_pitch_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal2_roll_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal3_pitch_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal3_roll_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal4_pitch_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal4_roll_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal5_pitch_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal5_roll_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal6_pitch_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal6_roll_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal7_pitch_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal7_roll_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal8_pitch_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gimbal8_roll_module: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_leg1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_leg2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_leg3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_leg4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_leg5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_leg6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_leg7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_leg8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint_junction_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pc: + Alpha: 1 + Show Axes: false + Show Trail: false + root: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust1: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust2: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust3: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust4: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust5: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust6: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust7: + Alpha: 1 + Show Axes: false + Show Trail: false + thrust8: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: spidar + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + spidar/bat1: + Value: true + spidar/bat2: + Value: true + spidar/bat3: + Value: true + spidar/bat4: + Value: true + spidar/bat5: + Value: true + spidar/bat6: + Value: true + spidar/bat7: + Value: true + spidar/bat8: + Value: true + spidar/center_link: + Value: true + spidar/cog: + Value: true + spidar/edf1_left: + Value: true + spidar/edf1_right: + Value: true + spidar/edf2_left: + Value: true + spidar/edf2_right: + Value: true + spidar/edf3_left: + Value: true + spidar/edf3_right: + Value: true + spidar/edf4_left: + Value: true + spidar/edf4_right: + Value: true + spidar/edf5_left: + Value: true + spidar/edf5_right: + Value: true + spidar/edf6_left: + Value: true + spidar/edf6_right: + Value: true + spidar/edf7_left: + Value: true + spidar/edf7_right: + Value: true + spidar/edf8_left: + Value: true + spidar/edf8_right: + Value: true + spidar/end_leg2: + Value: true + spidar/end_leg4: + Value: true + spidar/end_leg6: + Value: true + spidar/end_leg8: + Value: true + spidar/fc: + Value: true + spidar/gimbal1_pitch_module: + Value: true + spidar/gimbal1_roll_module: + Value: true + spidar/gimbal2_pitch_module: + Value: true + spidar/gimbal2_roll_module: + Value: true + spidar/gimbal3_pitch_module: + Value: true + spidar/gimbal3_roll_module: + Value: true + spidar/gimbal4_pitch_module: + Value: true + spidar/gimbal4_roll_module: + Value: true + spidar/gimbal5_pitch_module: + Value: true + spidar/gimbal5_roll_module: + Value: true + spidar/gimbal6_pitch_module: + Value: true + spidar/gimbal6_roll_module: + Value: true + spidar/gimbal7_pitch_module: + Value: true + spidar/gimbal7_roll_module: + Value: true + spidar/gimbal8_pitch_module: + Value: true + spidar/gimbal8_roll_module: + Value: true + spidar/joint_junction_leg1: + Value: true + spidar/joint_junction_leg2: + Value: true + spidar/joint_junction_leg3: + Value: true + spidar/joint_junction_leg4: + Value: true + spidar/joint_junction_leg5: + Value: true + spidar/joint_junction_leg6: + Value: true + spidar/joint_junction_leg7: + Value: true + spidar/joint_junction_leg8: + Value: true + spidar/joint_junction_link1: + Value: true + spidar/joint_junction_link2: + Value: true + spidar/joint_junction_link3: + Value: true + spidar/joint_junction_link4: + Value: true + spidar/joint_junction_link5: + Value: true + spidar/joint_junction_link6: + Value: true + spidar/joint_junction_link7: + Value: true + spidar/joint_junction_link8: + Value: true + spidar/link1: + Value: true + spidar/link2: + Value: true + spidar/link3: + Value: true + spidar/link4: + Value: true + spidar/link5: + Value: true + spidar/link6: + Value: true + spidar/link7: + Value: true + spidar/link8: + Value: true + spidar/pc: + Value: true + spidar/root: + Value: true + spidar/thrust1: + Value: true + spidar/thrust2: + Value: true + spidar/thrust3: + Value: true + spidar/thrust4: + Value: true + spidar/thrust5: + Value: true + spidar/thrust6: + Value: true + spidar/thrust7: + Value: true + spidar/thrust8: + Value: true + world: + Value: true + Marker Scale: 0.20000000298023224 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + spidar/root: + spidar/center_link: + spidar/fc: + {} + spidar/joint_junction_link1: + spidar/joint_junction_leg1: + {} + spidar/link1: + spidar/bat1: + {} + spidar/gimbal1_roll_module: + spidar/gimbal1_pitch_module: + spidar/edf1_left: + {} + spidar/edf1_right: + {} + spidar/thrust1: + {} + spidar/joint_junction_link2: + spidar/joint_junction_leg2: + {} + spidar/link2: + spidar/bat2: + {} + spidar/end_leg2: + {} + spidar/gimbal2_roll_module: + spidar/gimbal2_pitch_module: + spidar/edf2_left: + {} + spidar/edf2_right: + {} + spidar/thrust2: + {} + spidar/joint_junction_link3: + spidar/joint_junction_leg3: + {} + spidar/link3: + spidar/bat3: + {} + spidar/gimbal3_roll_module: + spidar/gimbal3_pitch_module: + spidar/edf3_left: + {} + spidar/edf3_right: + {} + spidar/thrust3: + {} + spidar/joint_junction_link4: + spidar/joint_junction_leg4: + {} + spidar/link4: + spidar/bat4: + {} + spidar/end_leg4: + {} + spidar/gimbal4_roll_module: + spidar/gimbal4_pitch_module: + spidar/edf4_left: + {} + spidar/edf4_right: + {} + spidar/thrust4: + {} + spidar/joint_junction_link5: + spidar/joint_junction_leg5: + {} + spidar/link5: + spidar/bat5: + {} + spidar/gimbal5_roll_module: + spidar/gimbal5_pitch_module: + spidar/edf5_left: + {} + spidar/edf5_right: + {} + spidar/thrust5: + {} + spidar/joint_junction_link6: + spidar/joint_junction_leg6: + {} + spidar/link6: + spidar/bat6: + {} + spidar/end_leg6: + {} + spidar/gimbal6_roll_module: + spidar/gimbal6_pitch_module: + spidar/edf6_left: + {} + spidar/edf6_right: + {} + spidar/thrust6: + {} + spidar/joint_junction_link7: + spidar/joint_junction_leg7: + {} + spidar/link7: + spidar/bat7: + {} + spidar/gimbal7_roll_module: + spidar/gimbal7_pitch_module: + spidar/edf7_left: + {} + spidar/edf7_right: + {} + spidar/thrust7: + {} + spidar/joint_junction_link8: + spidar/joint_junction_leg8: + {} + spidar/link8: + spidar/bat8: + {} + spidar/end_leg8: + {} + spidar/gimbal8_roll_module: + spidar/gimbal8_pitch_module: + spidar/edf8_left: + {} + spidar/edf8_right: + {} + spidar/thrust8: + {} + spidar/pc: + {} + spidar/cog: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 3.6037070751190186 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.34548619389533997 + Y: 1.1088130474090576 + Z: -5.368113420445297e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6047970652580261 + Target Frame: + Value: XYOrbit (rviz) + Yaw: 1.8999963998794556 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 2105 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3773 + X: 67 + Y: 27 diff --git a/robots/spidar/include/spidar/control/walk_control.h b/robots/spidar/include/spidar/control/walk_control.h new file mode 100644 index 000000000..c6ebeb9f7 --- /dev/null +++ b/robots/spidar/include/spidar/control/walk_control.h @@ -0,0 +1,185 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2022, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace aerial_robot_control +{ + namespace Spider + { + class WalkController: public PoseLinearController + { + public: + WalkController(); + ~WalkController() {} + + void initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + boost::shared_ptr navigator, + double ctrl_loop_rate) override; + bool update() override; + void reset() override; + + void startRaiseTransition(); + void startLowerLeg(); + void startContactTransition(int leg_id); + + bool getContactTransition(); + + private: + + ros::Publisher flight_cmd_pub_; //for spinal + ros::Publisher gimbal_control_pub_; + ros::Publisher joint_angle_pub_; + ros::Publisher joint_torque_pub_; + ros::Publisher target_vectoring_force_pub_; + ros::Publisher link_rot_thrust_force_pub_; + ros::Publisher extra_joint_torque_pub_; + ros::Publisher joint_servo_enable_pub_; + ros::Subscriber joint_force_compliance_sub_; + ros::Subscriber joint_no_load_sub_; + ros::ServiceServer joint_yaw_torque_srv_, joint_pitch_torque_srv_; + + boost::shared_ptr<::Spider::GroundRobotModel> spidar_robot_model_; + boost::shared_ptr spidar_walk_navigator_; + + std::vector walk_pid_controllers_; + std::vector > walk_pid_reconf_servers_; + + std::vector joint_torque_controllers_; + + std::vector joint_index_map_; + + Eigen::VectorXd static_thrust_force_; + Eigen::VectorXd static_joint_torque_; + + std::vector target_base_thrust_; + std::vector target_gimbal_angles_; + Eigen::VectorXd target_vectoring_f_; + Eigen::VectorXd target_extra_joint_torque_; + + sensor_msgs::JointState target_joint_angles_; + sensor_msgs::JointState target_joint_torques_; + std::vector prev_navi_target_joint_angles_; + sensor_msgs::JointState prior_raise_leg_target_joint_angles_; + double joint_ctrl_rate_; + double tor_kp_; + + bool joint_soft_compliance_; + double joint_compliance_end_t_; + + bool set_init_servo_torque_; + bool all_joint_position_control_; + bool free_leg_torque_mode_; + bool raise_separate_motion_; + double joint_error_angle_thresh_; + double joint_torque_control_thresh_; + double joint_static_torque_limit_; + double raise_joint_static_torque_limit_; + double servo_max_torque_; + double servo_torque_change_rate_; + double servo_angle_bias_; + double servo_angle_bias_torque_; + + double angle_scale_; + double torque_load_scale_; + + double thrust_force_weight_; + double joint_torque_weight_; + + bool opposite_free_leg_joint_torque_control_mode_; + bool raise_leg_large_torque_control_; + + double raise_leg_force_i_gain_; + double modify_leg_force_i_gain_; + double lower_leg_force_i_gain_; + double contact_leg_force_i_gain_; + double lower_leg_force_ratio_thresh_; + double modify_leg_force_ratio_thresh_; + double modify_leg_force_margin_; + double free_leg_force_ratio_; + + double raise_leg_burst_p_gain_; + double raise_leg_burst_thresh_; + double raise_leg_burst_bias_; + + Eigen::VectorXd raise_static_thrust_force_; + double contact_transtion_init_ratio_; + double lower_leg_speed_; + + double prev_t_; + double prev_v_; + double check_interval_; + + bool raise_transition_; + bool contact_transition_; + int contact_leg_id_; + + double link_rot_f_control_i_thresh_; + std::vector fw_i_terms_; + + void rosParamInit(); + virtual void sendCmd() override; + + bool servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res, const std::string& name); + void jointSoftComplianceCallback(const std_msgs::EmptyConstPtr& msg); + + void cfgPidCallback(aerial_robot_control::PidControlConfig &config, uint32_t level, std::vector controller_indices) override; + + void calcStaticBalance(); + void jointControl(); + void jointSoftComplianceControl(); + void thrustControl(); + + // utils + void setJointIndexMap(); + std::vector getCurrentJointAngles(); + inline double clamp(double v, double b) { return std::min(std::max(v, -b), b); } + Eigen::VectorXd clamp(Eigen::VectorXd v, double b); + bool samejointAngles(std::vector group_a, std::vector group_b); + }; + }; +}; diff --git a/robots/spidar/include/spidar/model/full_vectoring_robot_model.h b/robots/spidar/include/spidar/model/full_vectoring_robot_model.h new file mode 100644 index 000000000..9ebd086e8 --- /dev/null +++ b/robots/spidar/include/spidar/model/full_vectoring_robot_model.h @@ -0,0 +1,55 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2020, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#pragma once + +#include + +namespace Spider +{ + class FullVectoringRobotModel : public Dragon::FullVectoringRobotModel + { + public: + FullVectoringRobotModel(bool init_with_rosparam = true, + bool verbose = false, + double edf_radius = 0, + double edf_max_tilt = 0); + virtual ~FullVectoringRobotModel() = default; + + protected: + void updateRobotModelImpl(const KDL::JntArray& joint_positions) override; + }; +}; + diff --git a/robots/spidar/include/spidar/model/ground_robot_model.h b/robots/spidar/include/spidar/model/ground_robot_model.h new file mode 100644 index 000000000..92e4c8f2f --- /dev/null +++ b/robots/spidar/include/spidar/model/ground_robot_model.h @@ -0,0 +1,72 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2020, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#pragma once + +#include + +namespace Spider +{ + class GroundRobotModel : public Dragon::FullVectoringRobotModel + { + public: + GroundRobotModel(bool init_with_rosparam = true, + bool verbose = false, + double edf_radius = 0, + double edf_max_tilt = 0); + virtual ~GroundRobotModel() = default; + + inline const Eigen::VectorXd& getStaticVectoringF() const {return static_vectoring_f_;} + inline const Eigen::VectorXd& getStaticJointT() const {return static_joint_t_;} + inline void setStaticVectoringF(Eigen::VectorXd f) { static_vectoring_f_ = f; } + inline void setStaticJointT(Eigen::VectorXd t) { static_joint_t_ = t; } + + inline void setFreeleg(int id) { free_leg_id_ = id; } + inline const int getFreeleg() const { return free_leg_id_; } + inline void resetFreeleg() { free_leg_id_ = -1; } + + protected: + void updateRobotModelImpl(const KDL::JntArray& joint_positions) override; + + bool calculate_walk_statics_; + + double joint_torque_limit_; + int free_leg_id_; // start from 0: [0, leg_num -1]; -1: non touched leg + + Eigen::VectorXd static_vectoring_f_; + Eigen::VectorXd static_joint_t_; + }; +}; + diff --git a/robots/spidar/include/spidar/model/hydrus_like_robot_model.h b/robots/spidar/include/spidar/model/hydrus_like_robot_model.h new file mode 100644 index 000000000..ea123ed29 --- /dev/null +++ b/robots/spidar/include/spidar/model/hydrus_like_robot_model.h @@ -0,0 +1,59 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2022, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#pragma once + +#include + +namespace Spider +{ + class HydrusLikeRobotModel : public Dragon::HydrusLikeRobotModel + { + public: + + HydrusLikeRobotModel(bool init_with_rosparam = true, + bool verbose = false, + double fc_t_min_thre = 0, + double fc_roll_pitch_min_thre = 0, + double epsilon = 10, + double edf_radius = 0, + double edf_max_tilt = 0); + virtual ~HydrusLikeRobotModel() = default; + + + protected: + void updateRobotModelImpl(const KDL::JntArray& joint_positions) override; + }; +}; diff --git a/robots/spidar/include/spidar/navigation/flight_navigation.h b/robots/spidar/include/spidar/navigation/flight_navigation.h new file mode 100644 index 000000000..6aa74cb43 --- /dev/null +++ b/robots/spidar/include/spidar/navigation/flight_navigation.h @@ -0,0 +1,64 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2022, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#pragma once + +#include + +namespace aerial_robot_navigation +{ + namespace Spider + { + class FlightNavigator : public DragonNavigator + { + public: + FlightNavigator(); + ~FlightNavigator(){} + + void initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator) override; + + private: + + void landingProcess() override; + + // parameter + double inside_land_pitch_angle_; + double outside_land_pitch_angle_; + + }; + }; +}; diff --git a/robots/spidar/include/spidar/navigation/walk_navigation.h b/robots/spidar/include/spidar/navigation/walk_navigation.h new file mode 100644 index 000000000..094478ca8 --- /dev/null +++ b/robots/spidar/include/spidar/navigation/walk_navigation.h @@ -0,0 +1,196 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2022, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace WalkPattern +{ + enum + { + PHASE0, // idle, all leg contact with ground + PHASE1, // raise leg + PHASE2, // lower leg + PHASE3, // move center link + }; +}; + +namespace aerial_robot_control +{ + namespace Spider + { + class WalkController; + }; +}; + +namespace aerial_robot_navigation +{ + namespace Spider + { + class WalkNavigator : public BaseNavigator + { + public: + WalkNavigator(); + ~WalkNavigator(){} + + void initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator) override; + + void update() override; + + inline tf::Vector3 getTargetBaselinkPos() {return target_baselink_pos_;} + inline tf::Vector3 getTargetBaselinkRpy() {return target_baselink_rpy_;} + inline tf::Vector3 getTargetBaselinkVel() {return target_baselink_vel_;} + inline sensor_msgs::JointState getTargetJointState() {return target_joint_state_;} + inline std::vector getTargetLinkRots() {return target_link_rots_;} + inline bool getRaiseLegFlag() const { return raise_leg_flag_; } + inline bool getLowerLegFlag() const { return lower_leg_flag_; } + inline bool isRaiseLegConverge() const { return raise_converge_; } + inline int getFreeleg() const { return free_leg_id_; } + + void setController(aerial_robot_control::Spider::WalkController* controller){ + walk_controller_ = controller; + } + + private: + + tf::Vector3 target_baselink_pos_; + tf::Vector3 target_baselink_vel_; + tf::Vector3 target_baselink_rpy_; + + std::vector joint_index_map_; + sensor_msgs::JointState target_joint_state_; + std::vector target_leg_ends_; + std::vector target_link_rots_; + + bool reset_baselink_flag_; + bool reset_leg_ends_flag_; + + int free_leg_id_; // start from 0: [0, leg_num -1] + bool raise_leg_flag_; + bool lower_leg_flag_; + bool raise_converge_; + double raise_angle_; + double raise_angle_orig_; + double front_leg_raise_ratio_; + double raise_converge_thresh_; + double lower_touchdown_thresh_; + double constant_angle_thresh_; + double baselink_rot_thresh_; + double opposite_raise_leg_thresh_; + double check_interval_; + double converge_time_thresh_; + + bool walk_flag_; + int walk_total_cycle_; + int walk_cycle_cnt_; + double walk_stride_; + int walk_leg_id_; // the move leg id in walk pattern, different from free_leg_id + bool walk_debug_; + int walk_debug_legs_; + bool walk_move_baselink_; + bool walk_cycle_reset_baselink_; + bool walk_cycle_reset_leg_end_; + double walk_pattern_converge_du_; + double baselink_converge_thresh_; + double move_leg_joint_err_thresh_; + int leg_motion_phase_; + + bool walk_simulation_; + sensor_msgs::JointState simulated_joint_state_; + double simulated_joint_lpf_rate_; + + double converge_timestamp_; + + ros::Subscriber target_baselink_pos_sub_; + ros::Subscriber target_baselink_delta_pos_sub_; + ros::Subscriber raise_leg_sub_; + ros::Subscriber lower_leg_sub_; + ros::Subscriber walk_sub_; + ros::Publisher target_joint_angles_pub_; + ros::Publisher target_leg_ends_pub_; + + ros::Publisher simulate_baselink_pose_pub_; + ros::Publisher simulate_joint_angles_pub_; + ros::Publisher simulate_flight_config_pub_; + ros::Subscriber simulate_flight_config_sub_; + + boost::shared_ptr<::Spider::GroundRobotModel> spidar_robot_model_; + boost::shared_ptr robot_model_for_nav_; + aerial_robot_control::Spider::WalkController* walk_controller_; + + void halt() override; + + void rosParamInit() override; + + void joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg) override; + + void targetBaselinkPosCallback(const geometry_msgs::Vector3StampedConstPtr& msg); + void targetBaselinkDeltaPosCallback(const geometry_msgs::Vector3StampedConstPtr& msg); + void raiseLegCallback(const std_msgs::UInt8ConstPtr& msg); + void lowerLegCallback(const std_msgs::EmptyConstPtr& msg); + void walkCallback(const std_msgs::BoolConstPtr& msg); + void simulateFlightConfigCallback(const spinal::FlightConfigCmdConstPtr& msg); + + void resetTargetBaselink(tf::Vector3 pos, tf::Vector3 rpy); + void resetTargetLegEnds(std::vector frames); + + void walkPattern(); + void resetWalkPattern(); + + void raiseLeg(int leg_id); + void lowerLeg(); + void contactLeg(); + + void failSafeAction(); + + void simulate(); + + // utils + void setJointIndexMap(); + std::vector getCurrentJointAngles(); + }; + }; +}; diff --git a/robots/spidar/launch/bringup.launch b/robots/spidar/launch/bringup.launch new file mode 100644 index 000000000..63744e50c --- /dev/null +++ b/robots/spidar/launch/bringup.launch @@ -0,0 +1,132 @@ + + + ########### launch config ########### + + + + + + + + + + + + + + + + + + + + + + + + ########### Parameters ########### + + + ########### Basic Param ########### + # EGOMOTION_ESTIMATE = 0 + # EXPERIMENT_ESTIMATE = 1. for unstable mocap, use this mode + # GROUND_TRUTH = 2 + + + + ########### UAV Config ########### + + + + + + + ########### Motor Config ########### + + + ########### Servo Config ########### + + + ########### Battery Config ########### + + + ########### Control ########### + + + + + + + ########### Sensor Fusion ########### + + + + ########### Navigation ########### + + + + + ########### Base Platform ########### + + + + + + + ########### Robot Model ########### + + + + + + + + + + + + + + ########### Sensors ########### + + + + + + + ########### Servo Bridge ########### + + + ########## Simulation in Gazebo ######### + + + + + + + + + + + + + + + + + + + + + + + + + + + init_pos: [0, 0, 0.4] + + + + + diff --git a/robots/spidar/launch/includes/v1_default/sensors.launch.xml b/robots/spidar/launch/includes/v1_default/sensors.launch.xml new file mode 100644 index 000000000..4da92b56b --- /dev/null +++ b/robots/spidar/launch/includes/v1_default/sensors.launch.xml @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/spidar/launch/includes/v1_leg/sensors.launch.xml b/robots/spidar/launch/includes/v1_leg/sensors.launch.xml new file mode 100644 index 000000000..4da92b56b --- /dev/null +++ b/robots/spidar/launch/includes/v1_leg/sensors.launch.xml @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/spidar/package.xml b/robots/spidar/package.xml new file mode 100644 index 000000000..d8b26c438 --- /dev/null +++ b/robots/spidar/package.xml @@ -0,0 +1,90 @@ + + + spidar + 0.0.0 + The spidar package + + + + + anzai + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + aerial_robot_base + aerial_robot_control + aerial_robot_model + aerial_robot_msgs + aerial_robot_simulation + dragon + roscpp + sensor_msgs + spinal + std_msgs + aerial_robot_control + aerial_robot_base + aerial_robot_control + aerial_robot_model + aerial_robot_msgs + aerial_robot_simulation + dragon + roscpp + sensor_msgs + spinal + std_msgs + aerial_robot_base + aerial_robot_control + aerial_robot_model + aerial_robot_msgs + aerial_robot_simulation + dragon + roscpp + sensor_msgs + spinal + std_msgs + pluginlib + + + + + + + diff --git a/robots/spidar/plugins/flight_control_plugins.xml b/robots/spidar/plugins/flight_control_plugins.xml new file mode 100644 index 000000000..cda9db0d1 --- /dev/null +++ b/robots/spidar/plugins/flight_control_plugins.xml @@ -0,0 +1,7 @@ + + + + spidar control plugin: walk control + + + diff --git a/robots/spidar/plugins/flight_navigation_plugin.xml b/robots/spidar/plugins/flight_navigation_plugin.xml new file mode 100644 index 000000000..b683e6f35 --- /dev/null +++ b/robots/spidar/plugins/flight_navigation_plugin.xml @@ -0,0 +1,9 @@ + + + spidar walk navigation plugin + + + + spidar flight navigation plugin + + diff --git a/robots/spidar/plugins/robot_model_plugins.xml b/robots/spidar/plugins/robot_model_plugins.xml new file mode 100644 index 000000000..72aa90bc1 --- /dev/null +++ b/robots/spidar/plugins/robot_model_plugins.xml @@ -0,0 +1,15 @@ + + + + plugin for hydrus-like spidar robot model + + + + plugin for full vectoring spidar robot model + + + + plugin for fround spidar robot model + + + diff --git a/robots/spidar/robots/octo/spidar_v1_base.urdf.xacro b/robots/spidar/robots/octo/spidar_v1_base.urdf.xacro new file mode 100644 index 000000000..5ffa7621a --- /dev/null +++ b/robots/spidar/robots/octo/spidar_v1_base.urdf.xacro @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + diff --git a/robots/spidar/robots/octo/v1_default/robot.gazebo.xacro b/robots/spidar/robots/octo/v1_default/robot.gazebo.xacro new file mode 100644 index 000000000..0ae4cebad --- /dev/null +++ b/robots/spidar/robots/octo/v1_default/robot.gazebo.xacro @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/robots/spidar/robots/octo/v1_default/robot.urdf.xacro b/robots/spidar/robots/octo/v1_default/robot.urdf.xacro new file mode 100644 index 000000000..fbb8b20f4 --- /dev/null +++ b/robots/spidar/robots/octo/v1_default/robot.urdf.xacro @@ -0,0 +1,33 @@ + + + + + + + + #### flight controller #### + + + + + + + + + + + + + + + + + + + diff --git a/robots/spidar/robots/octo/v1_leg/robot.gazebo.xacro b/robots/spidar/robots/octo/v1_leg/robot.gazebo.xacro new file mode 100644 index 000000000..92befd89e --- /dev/null +++ b/robots/spidar/robots/octo/v1_leg/robot.gazebo.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + 20000.0 + 2000.0 + 1000.0 + Gazebo/Black + + + + 20000.0 + 2000.0 + 1000.0 + Gazebo/Black + + + + 20000.0 + 2000.0 + 1000.0 + Gazebo/Black + + + + 20000.0 + 2000.0 + 1000.0 + Gazebo/Black + + + diff --git a/robots/spidar/robots/octo/v1_leg/robot.urdf.xacro b/robots/spidar/robots/octo/v1_leg/robot.urdf.xacro new file mode 100644 index 000000000..c854d7249 --- /dev/null +++ b/robots/spidar/robots/octo/v1_leg/robot.urdf.xacro @@ -0,0 +1,68 @@ + + + + + + + + + #### flight controller #### + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/spidar/script/gazebo_quick_init_pose.py b/robots/spidar/script/gazebo_quick_init_pose.py new file mode 100755 index 000000000..0da65d3b9 --- /dev/null +++ b/robots/spidar/script/gazebo_quick_init_pose.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python + +import sys +import time +import rospy +import numpy as np +from gazebo_msgs.srv import ApplyJointEffort, JointRequest, SetModelConfiguration, SetModelState +from gazebo_msgs.msg import ModelState +from sensor_msgs.msg import JointState +from geometry_msgs.msg import Pose, Point, Quaternion, Twist +from control_msgs.msg import JointControllerState + +class InitPose(object): + def __init__(self): + joint_controller_params = rospy.get_param("servo_controller/joints") + init_pos = rospy.get_param("~init_pos", [0,0,0.3]) + self.robot_name = rospy.get_namespace().replace('/', '') + + self.joint_num = len([k for k in joint_controller_params.keys() if 'controller' in k]) + self.joint_names = [joint_controller_params['controller' + '{:0>2}'.format(i+1)]['name'] for i in range(self.joint_num)] + + self.init_angles = np.array([joint_controller_params['controller' + '{:0>2}'.format(i+1)]['simulation']['init_value'] \ + if 'simulation' in joint_controller_params['controller' + '{:0>2}'.format(i+1)] else 0 for i in range(self.joint_num)]) + + if rospy.has_param("~joint_names"): + self.joint_names = rospy.get_param("~joint_names") + + if rospy.has_param("~init_angles"): + self.init_angles = rospy.get_param("~init_angles") + + self.servo_sub = rospy.Subscriber("servo_controller/joints/controller" + '{:0>2}'.format(self.joint_num) + "/simulation/state", JointControllerState, self.servoCb) + + self.last_servo_state = None + + r = rospy.Rate(1) + while not rospy.is_shutdown(): + if self.last_servo_state is not None: + break + r.sleep() + + try: + change_pose = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState) + state = ModelState() + state.model_name = self.robot_name + state.pose = Pose(Point(init_pos[0], init_pos[1], init_pos[2]), + Quaternion(0, 0, 0, 1)) + change_pose(state) + except rospy.ServiceException as e: + print("Service call failed: %s"%e) + + try: + change_joint_configuration = rospy.ServiceProxy('/gazebo/set_model_configuration', SetModelConfiguration) + change_joint_configuration(self.robot_name, + rospy.get_namespace() + 'robot_description', + self.joint_names, + self.init_angles) + except rospy.ServiceException as e: + print("Service call failed: %s"%e) + + + def servoCb(self, msg): + self.last_servo_state = msg + self.servo_sub.unregister() + + +if __name__ == "__main__": + + rospy.init_node("spidar_init_pose") + pose_controller = InitPose() + + diff --git a/robots/spidar/script/servo_cofig.py b/robots/spidar/script/servo_cofig.py new file mode 100755 index 000000000..c2e5529c3 --- /dev/null +++ b/robots/spidar/script/servo_cofig.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python + +import os +import rospy +from spinal.srv import * +import rosgraph +from argparse import ArgumentParser + + +rospy.init_node("spidar_neuron_configure") + +parser = ArgumentParser() +parser.add_argument('-n', nargs='+', dest="neuron_id", help='board id(s) to configure') +args = parser.parse_args() + +robot_ns = '' +if robot_ns == '': + master = rosgraph.Master('/rostopic') + try: + _, subs, _ = master.getSystemState() + except socket.error: + raise ROSTopicIOException("Unable to communicate with master!") + + teleop_topics = [topic[0] for topic in subs if 'teleop_command/start' in topic[0]] + if len(teleop_topics) == 1: + robot_ns = teleop_topics[0].split('/teleop')[0] + + +get_board_info_client = rospy.ServiceProxy(robot_ns + '/get_board_info', GetBoardInfo) +set_board_config_client = rospy.ServiceProxy(robot_ns + '/set_board_config', SetBoardConfig) + +configure_commands = ['SET_SERVO_SEND_DATA_FLAG', + 'SET_SERVO_PID_GAIN', + 'SET_SERVO_PROFILE_VEL', + 'SET_SERVO_CURRENT_LIMIT', + 'SET_SERVO_EXTERNAL_ENCODER_FLAG', + 'SET_SERVO_RESOLUTION_RATIO'] + +configure_commands = ['SET_SERVO_PID_GAIN'] + +req = SetBoardConfigRequest() +for neuron_id in args.neuron_id: + neuron_id = int(neuron_id) + for servo_id in range(4): + for command in configure_commands: + req.command = getattr(req, command) + + if command == 'SET_SERVO_SEND_DATA_FLAG': + req.data = [neuron_id, servo_id, 1] + + if command == 'SET_SERVO_PID_GAIN': + if servo_id == 0 or servo_id == 1: #joints + req.data = [neuron_id, servo_id, 3000, 0, 2500] + elif servo_id == 2: # gimbal roll + req.data = [neuron_id, servo_id, 1200, 0, 10000] + else: # gimbal pitch + req.data = [neuron_id, servo_id, 3000, 200, 2500] + + if command == 'SET_SERVO_PROFILE_VEL': + if servo_id == 0 or servo_id == 1: # joint yaw/pitch + req.data = [neuron_id, servo_id, 30] + else: + req.data = [neuron_id, servo_id, 0] + + if command == 'SET_SERVO_CURRENT_LIMIT': + if servo_id == 0 or servo_id == 1: # joint yaw/pitch + req.data = [neuron_id, servo_id, 350] + else: + req.data = [neuron_id, servo_id, 0] + + if command == 'SET_SERVO_EXTERNAL_ENCODER_FLAG': + req.data = [neuron_id, servo_id, 0] + + if command == 'SET_SERVO_RESOLUTION_RATIO': + req.data = [neuron_id, servo_id, 1, 1] + + try: + rospy.loginfo('neuron: {}, servo: {}, command: {} ({})'.format(neuron_id, servo_id, command, req.command)) + rospy.loginfo('data: {}'.format(req.data)) + + res = set_board_config_client(req) + rospy.loginfo(bool(res.success)) + except rospy.ServiceException as e: + print("/set_board_config service call failed: {}".format(e)) + rospy.sleep(5) diff --git a/robots/spidar/script/spider_octo_transformation.py b/robots/spidar/script/spider_octo_transformation.py new file mode 100755 index 000000000..0aa947722 --- /dev/null +++ b/robots/spidar/script/spider_octo_transformation.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python + +import rospy +from sensor_msgs.msg import JointState +import argparse +import numpy as np + +class SpiderOctoTransformation: + def __init__(self): + rospy.init_node('spidar_octo_transformation') + self.joint_state = JointState() + self.pub = rospy.Publisher('/spidar/joints_ctrl', JointState, queue_size = 1) + self.sub = rospy.Subscriber('/spidar/joint_states', JointState, self.jointStateCallback) + + rospy.sleep(0.5) + + def jointStateCallback(self, msg): + self.joint_state = msg + self.sub.unregister() + + def publishJointMsg(self, target_joint_position, execute_time, frequency): + + while not self.joint_state.name: + pass + + joint_seq_len = int(execute_time * frequency / 1000.0) + joint_seq = [] + joint_name = ['joint' + str(i/2+1) + ('_yaw' if i % 2 == 0 else '_pitch') for i in range(16)] + + if joint_seq_len > 1: + for position, name in zip(target_joint_position, joint_name): + current_position = self.joint_state.position[self.joint_state.name.index(name)] + joint_seq.append(np.linspace(current_position, float(position), num = joint_seq_len, endpoint = True)) + joint_seq = np.stack(joint_seq).transpose() + else: + joint_seq = [target_joint_position] + + joint_msg = JointState() + joint_msg.name = joint_name + + for joint_pos in joint_seq: + joint_msg.header.stamp = rospy.Time.now() + joint_msg.position = joint_pos + self.pub.publish(joint_msg) + rospy.sleep(1.0 / args.f) + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('-q', nargs='+', help='joint angle [rad]*16') + parser.add_argument('-t', type=int, help='execute time [ms]') + parser.add_argument('-f', type=float, help='joint publish frequency [Hz]', default='20.0') + args = parser.parse_args() + + if len(args.q) != 16 and len(args.q) != 4: + print("[Error] incorrect number of joint angle, please assign angle with order of (joint_yaw, joint_pitch)") + exit(0) + + if len(args.q) == 4: + args.q = args.q * 4 + + print("taget joint angles are {}".format(args.q)) + + node = SpiderOctoTransformation() + node.publishJointMsg(args.q, args.t, args.f) diff --git a/robots/spidar/src/control/walk_control.cpp b/robots/spidar/src/control/walk_control.cpp new file mode 100644 index 000000000..1851b451f --- /dev/null +++ b/robots/spidar/src/control/walk_control.cpp @@ -0,0 +1,1342 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2022, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include + +using namespace aerial_robot_model; +using namespace aerial_robot_control::Spider; + +WalkController::WalkController(): + PoseLinearController(), + walk_pid_controllers_(0), + joint_torque_controllers_(0), + joint_index_map_(0), + joint_soft_compliance_(false), + joint_compliance_end_t_(0), + prev_navi_target_joint_angles_(0), + free_leg_force_ratio_(0), + raise_transition_(false), + contact_transition_(false), + set_init_servo_torque_(false), + contact_leg_id_(-1) +{ +} + +void WalkController::initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator, + boost::shared_ptr navigator, + double ctrl_loop_rate) +{ + PoseLinearController::initialize(nh, nhp, robot_model, estimator, navigator, ctrl_loop_rate); + rosParamInit(); + + spidar_robot_model_ = boost::dynamic_pointer_cast<::Spider::GroundRobotModel>(robot_model); + spidar_walk_navigator_ = boost::dynamic_pointer_cast(navigator); + spidar_walk_navigator_->setController(this); + + /* initialize the gimbal target angles */ + target_base_thrust_.resize(motor_num_); + target_gimbal_angles_.resize(motor_num_ * 2, 0); + target_joint_angles_.position.resize(0); + target_joint_angles_.name.resize(0); + target_vectoring_f_ = Eigen::VectorXd::Zero(3 * motor_num_); + static_thrust_force_ = Eigen::VectorXd::Zero(3 * motor_num_); + + gimbal_control_pub_ = nh_.advertise("gimbals_ctrl", 1); + joint_angle_pub_ = nh_.advertise("joints_ctrl", 1); + joint_torque_pub_ = nh_.advertise("joints_torque_ctrl", 1); + flight_cmd_pub_ = nh_.advertise("four_axes/command", 1); + target_vectoring_force_pub_ = nh_.advertise("debug/target_vectoring_force", 1); + link_rot_thrust_force_pub_ = nh_.advertise("debug/link_rot_thrust_force", 1); + extra_joint_torque_pub_ = nh_.advertise("debug/extra_joint_torque", 1); + + joint_servo_enable_pub_ = nh_.advertise("servo/torque_enable", 1); + joint_yaw_torque_srv_ = nh_.advertiseService("joint_yaw/torque_enable", boost::bind(&WalkController::servoTorqueCtrlCallback, this, _1, _2, "yaw")); + joint_pitch_torque_srv_ = nh_.advertiseService("joint_pitch/torque_enable", boost::bind(&WalkController::servoTorqueCtrlCallback, this, _1, _2, "pitch")); + joint_force_compliance_sub_ = nh_.subscribe("joint_force_compliance", 1, &WalkController::jointSoftComplianceCallback, this); + + target_joint_angles_.name = spidar_robot_model_->getLinkJointNames(); + int joint_num = spidar_robot_model_->getLinkJointNames().size(); + target_joint_angles_.position.assign(joint_num, 0); + prior_raise_leg_target_joint_angles_ = target_joint_angles_; + + target_joint_torques_.name.resize(0); + target_joint_torques_.position.resize(0); + static_joint_torque_ = Eigen::VectorXd::Zero(joint_num); + + for (int i = 0; i < motor_num_; i++) { + fw_i_terms_.push_back(Eigen::Vector3d::Zero()); + } +} + +void WalkController::rosParamInit() +{ + ros::NodeHandle walk_control_nh(nh_, "controller/walk"); + getParam(walk_control_nh, "joint_ctrl_rate", joint_ctrl_rate_, 1.0); // 1 Hz + getParam(walk_control_nh, "joint_torque_control_thresh", joint_torque_control_thresh_, 2.0); // 2 Nm + getParam(walk_control_nh, "servo_angle_bias", servo_angle_bias_, 0.02); // 0.02 rad + getParam(walk_control_nh, "servo_angle_bias_torque", servo_angle_bias_torque_, 4.0); // 4.0 Nm + getParam(walk_control_nh, "servo_max_torque", servo_max_torque_, 6.0); // 6.0 Nm + getParam(walk_control_nh, "joint_static_torque_limit", joint_static_torque_limit_, 3.0); // 3.0 Nm + getParam(walk_control_nh, "raise_joint_static_torque_limit", raise_joint_static_torque_limit_, 3.0); // 3.0 Nm + getParam(walk_control_nh, "servo_torque_change_rate", servo_torque_change_rate_, 1.5); // rate + getParam(walk_control_nh, "link_rot_f_control_i_thresh", link_rot_f_control_i_thresh_, 0.06); // rad + getParam(walk_control_nh, "raise_leg_force_i_gain", raise_leg_force_i_gain_, 1.0); // / s + getParam(walk_control_nh, "modify_leg_force_i_gain", modify_leg_force_i_gain_, 1.0); // / s + getParam(walk_control_nh, "lower_leg_force_i_gain", lower_leg_force_i_gain_, 1.0); // / s + getParam(walk_control_nh, "contact_leg_force_i_gain", contact_leg_force_i_gain_, 1.0); // / s + getParam(walk_control_nh, "lower_leg_force_ratio_thresh", lower_leg_force_ratio_thresh_, 0.9); + getParam(walk_control_nh, "modify_leg_force_ratio_thresh", modify_leg_force_ratio_thresh_, 0.9); + getParam(walk_control_nh, "modify_leg_force_margin", modify_leg_force_margin_, 0.05); // rad + + getParam(walk_control_nh, "raise_leg_burst_p_gain", raise_leg_burst_p_gain_, 0.5); // max_ratio / max_error + getParam(walk_control_nh, "raise_leg_burst_thresh", raise_leg_burst_thresh_, 0.1); + getParam(walk_control_nh, "raise_leg_burst_bias", raise_leg_burst_bias_, 0.1); + + getParam(walk_control_nh, "all_joint_position_control", all_joint_position_control_, true); + getParam(walk_control_nh, "opposite_free_leg_joint_torque_control_mode", opposite_free_leg_joint_torque_control_mode_, true); + getParam(walk_control_nh, "free_leg_torque_mode", free_leg_torque_mode_, false); + getParam(walk_control_nh, "raise_separate_motion", raise_separate_motion_, false); + getParam(walk_control_nh, "raise_leg_large_torque_control", raise_leg_large_torque_control_, true); + getParam(walk_control_nh, "lower_leg_speed", lower_leg_speed_, 0.5); + + getParam(walk_control_nh, "thrust_force_weight", thrust_force_weight_, 1.0); + getParam(walk_control_nh, "joint_torque_weight", joint_torque_weight_, 1.0); + + getParam(walk_control_nh, "check_interval", check_interval_, 0.1); + + + ros::NodeHandle xy_nh(walk_control_nh, "xy"); + ros::NodeHandle z_nh(walk_control_nh, "z"); + + double limit_sum, limit_p, limit_i, limit_d; + double limit_err_p, limit_err_i, limit_err_d; + double p_gain, i_gain, d_gain; + + auto loadParam = [&, this](ros::NodeHandle nh) + { + getParam(nh, "limit_sum", limit_sum, 1.0e6); + getParam(nh, "limit_p", limit_p, 1.0e6); + getParam(nh, "limit_i", limit_i, 1.0e6); + getParam(nh, "limit_d", limit_d, 1.0e6); + getParam(nh, "limit_err_p", limit_err_p, 1.0e6); + getParam(nh, "limit_err_i", limit_err_i, 1.0e6); + getParam(nh, "limit_err_d", limit_err_d, 1.0e6); + + getParam(nh, "p_gain", p_gain, 0.0); + getParam(nh, "i_gain", i_gain, 0.0); + getParam(nh, "d_gain", d_gain, 0.0); + }; + + loadParam(xy_nh); + walk_pid_controllers_.push_back(PID("x", p_gain, i_gain, d_gain, limit_sum, limit_p, limit_i, limit_d, limit_err_p, limit_err_i, limit_err_d)); + walk_pid_controllers_.push_back(PID("y", p_gain, i_gain, d_gain, limit_sum, limit_p, limit_i, limit_d, limit_err_p, limit_err_i, limit_err_d)); + + std::vector xy_indices = {X, Y}; + walk_pid_reconf_servers_.push_back(boost::make_shared(xy_nh)); + walk_pid_reconf_servers_.back()->setCallback(boost::bind(&WalkController::cfgPidCallback, this, _1, _2, xy_indices)); + + loadParam(z_nh); + walk_pid_controllers_.push_back(PID("z", p_gain, i_gain, d_gain, limit_sum, limit_p, limit_i, limit_d, limit_err_p, limit_err_i, limit_err_d)); + walk_pid_reconf_servers_.push_back(boost::make_shared(z_nh)); + std::vector z_indices = {Z}; + walk_pid_reconf_servers_.back()->setCallback(boost::bind(&WalkController::cfgPidCallback, this, _1, _2, z_indices)); + + // for link-wise rotation control + ros::NodeHandle link_nh(walk_control_nh, "link"); + loadParam(link_nh); + walk_pid_controllers_.push_back(PID("link", p_gain, i_gain, d_gain, limit_sum, limit_p, limit_i, limit_d, limit_err_p, limit_err_i, limit_err_d)); + walk_pid_reconf_servers_.push_back(boost::make_shared(link_nh)); + std::vector link_indices = {Z+1}; + walk_pid_reconf_servers_.back()->setCallback(boost::bind(&WalkController::cfgPidCallback, this, _1, _2, link_indices)); + + + // for joint pid control + ros::NodeHandle joint_nh(walk_control_nh, "joint"); + loadParam(joint_nh); + for (auto name: robot_model_->getLinkJointNames()) { + joint_torque_controllers_.push_back(PID(name, p_gain, i_gain, d_gain, limit_sum, limit_p, limit_i, limit_d, limit_err_p, limit_err_i, limit_err_d)); + } + int joint_num = robot_model_->getLinkJointNames().size(); + target_extra_joint_torque_ = Eigen::VectorXd::Zero(joint_num); + getParam(joint_nh, "joint_error_angle_thresh", joint_error_angle_thresh_, 0.02); + + + // calculate the torque_position Kp + getParam(nh_, "servo_controller/joints/angle_scale", angle_scale_, 1.0); + getParam(nh_, "servo_controller/joints/torque_scale", torque_load_scale_, 1.0); + double load_kp; + getParam(nh_, "servo_controller/joints/load_kp", load_kp, 1.0); // KP / 128 + tor_kp_ = torque_load_scale_ * load_kp / angle_scale_; +} + +bool WalkController::update() +{ + ControlBase::update(); + + // skip before the model initialization + if (spidar_robot_model_->getMass() == 0) { + return false; + } + + // set (initialize) joint index map + if (joint_index_map_.size() == 0) { + setJointIndexMap(); + } + + if (navigator_->getNaviState() == aerial_robot_navigation::START_STATE) { + control_timestamp_ = ros::Time::now().toSec(); + } + + // joint control + jointControl(); + + // static balance + calcStaticBalance(); + + // thrust control + thrustControl(); + + + // send control command to robot + sendCmd(); + + return true; +} + +void WalkController::thrustControl() +{ + if (navigator_->getNaviState() != aerial_robot_navigation::ARM_ON_STATE) { + return; + } + + double du = ros::Time::now().toSec() - control_timestamp_; + + tf::Vector3 baselink_pos = estimator_->getPos(Frame::BASELINK, estimate_mode_); + tf::Vector3 baselink_vel = estimator_->getVel(Frame::BASELINK, estimate_mode_); + tf::Vector3 baselink_rpy = estimator_->getEuler(Frame::BASELINK, estimate_mode_); + + tf::Vector3 baselink_target_pos = spidar_walk_navigator_->getTargetBaselinkPos(); + tf::Vector3 baselink_target_vel = spidar_walk_navigator_->getTargetBaselinkVel(); + tf::Vector3 baselink_target_rpy = spidar_walk_navigator_->getTargetBaselinkRpy(); + + // 1. feed-forwared control: compensate the static balance + target_vectoring_f_ = static_thrust_force_; + //ROS_INFO_STREAM("[Spider] [Control] total thrust vector init: " << static_thrust_force_.transpose()); + + // transition in different phase + + // a) transition from fully contact to raise mode + if (raise_transition_) { + free_leg_force_ratio_ += raise_leg_force_i_gain_ * du; + + // TODO: determine the complete of transition by leg raise or leave ground. + + if (free_leg_force_ratio_ > 1) { + // complete transition + + free_leg_force_ratio_ = 1; + raise_transition_ = false; + ROS_INFO("[Spider][Walk][Thrust Control] complete raise transition"); + } + + // do transition + Eigen::VectorXd delta_vec = static_thrust_force_ - raise_static_thrust_force_; + target_vectoring_f_ = raise_static_thrust_force_ + free_leg_force_ratio_ * delta_vec; + } + + // b) transition from lower to fully contact mode + if (contact_transition_) { + free_leg_force_ratio_ -= contact_leg_force_i_gain_ * du; + + if (free_leg_force_ratio_ < 0) { + // complete transition + + free_leg_force_ratio_ = 0; + contact_transition_ = false; + ROS_INFO("[Spider][Walk][Thrust Control] complete contact transition"); + } + + // do transition + Eigen::VectorXd delta_vec = raise_static_thrust_force_ - static_thrust_force_; + double ratio = free_leg_force_ratio_ / contact_transtion_init_ratio_; + target_vectoring_f_ = static_thrust_force_ + ratio * delta_vec; + } + + // constant modification in raise different case + // a) raise phase + if (spidar_walk_navigator_->getRaiseLegFlag() && !raise_transition_) { + + int leg_id = spidar_walk_navigator_->getFreeleg(); + int j = 4 * leg_id + 1; + double angle = getCurrentJointAngles().at(j); + double target_angle = spidar_walk_navigator_->getTargetJointState().position.at(j); + bool raise_converge = spidar_walk_navigator_->isRaiseLegConverge(); + + double t = ros::Time::now().toSec(); + if (t - prev_t_ > check_interval_) { + if (target_angle - angle > modify_leg_force_margin_ && raise_converge) { + // only consider the over raised situation + free_leg_force_ratio_ -= modify_leg_force_i_gain_ * (t - prev_t_); + + if (free_leg_force_ratio_ < modify_leg_force_ratio_thresh_) { + free_leg_force_ratio_ = modify_leg_force_ratio_thresh_; + } + + ROS_INFO_STREAM("[Spider][Walk][Thrust Control] raise leg" << leg_id+1 << " is over raised, target angle of " << target_joint_angles_.name.at(j) << " is " << target_angle << ", current angle is " << angle << ", force ratio is " << free_leg_force_ratio_); + } + prev_t_ = t; + } + + // only modifiy the rotors in free leg + target_vectoring_f_.segment(6 * leg_id, 6) *= free_leg_force_ratio_; + } + + // b) lower phase + if (spidar_walk_navigator_->getLowerLegFlag()) { + + int leg_id = spidar_walk_navigator_->getFreeleg(); + int j = 4 * leg_id + 1; + double angle = getCurrentJointAngles().at(j); + double target_angle = target_joint_angles_.position.at(j); + + double t = ros::Time::now().toSec(); + if (t - prev_t_ > check_interval_) { + if (angle - prev_v_ < lower_leg_speed_ * check_interval_) { + free_leg_force_ratio_ -= lower_leg_force_i_gain_ * (t - prev_t_); + + if (free_leg_force_ratio_ < lower_leg_force_ratio_thresh_) { + free_leg_force_ratio_ = lower_leg_force_ratio_thresh_; + } + + ROS_INFO_STREAM("[Spider][Walk][Thrust Control] lower leg" << leg_id+1 << ", previous joint angle of " << target_joint_angles_.name.at(j) << " is " << prev_v_ << ", current angle is " << angle << ", target angle is " << target_angle << ", force ratio is " << free_leg_force_ratio_); + } + + prev_v_ = angle; + prev_t_ = t; + } + + // only modifiy the rotors in free leg + target_vectoring_f_.segment(6 * leg_id, 6) *= free_leg_force_ratio_; + } + + // c) burst thrust force for better raising + if (spidar_walk_navigator_->getRaiseLegFlag() && + !spidar_walk_navigator_->isRaiseLegConverge()) { + int leg_id = spidar_walk_navigator_->getFreeleg(); + int j = 4 * leg_id + 1; + double angle = getCurrentJointAngles().at(j); + double target_angle = spidar_walk_navigator_->getTargetJointState().position.at(j); + + double err = angle - target_angle - raise_leg_burst_bias_; + err = std::max(err, 0.0); // err should be non-nengative + double burst_force_ratio = raise_leg_burst_p_gain_ * err; + burst_force_ratio = std::min(raise_leg_burst_thresh_, burst_force_ratio); + + Eigen::VectorXd orig_vec = target_vectoring_f_.segment(6 * leg_id, 6); + target_vectoring_f_.segment(6 * leg_id, 6) += burst_force_ratio * static_thrust_force_.segment(6 * leg_id, 6); + if (raise_leg_burst_p_gain_ > 0) { + ROS_INFO_STREAM_THROTTLE(check_interval_, "[Spider][Walk][Thrust Control] burst raise for leg" << leg_id+1 << ", " << target_joint_angles_.name.at(j) << ", current angle is " << angle << ", target angle is " << target_angle << ", burst force ratio is " << burst_force_ratio); + //ROS_INFO_STREAM_THROTTLE(check_interval_, "[Spider][Walk][Thrust Control] burst raise for leg" << leg_id+1 << ", " << target_joint_angles_.name.at(j) << ", current angle is " << angle << ", target angle is " << target_angle << ", burst force ratio is " << burst_force_ratio << ", orig force vector force free leg: " << orig_vec.transpose() << ", bursted thrust: " << target_vectoring_f_.segment(6 * leg_id, 6).transpose()); + } + } + + + // 2. feed-back control: baselink position control + Eigen::VectorXd target_wrench = Eigen::VectorXd::Zero(6); + + tf::Vector3 pos_err = baselink_target_pos - baselink_pos; + tf::Vector3 vel_err = baselink_target_vel - baselink_vel; + tf::Vector3 rpy_err = baselink_target_rpy - baselink_rpy; + + // no negative (downward) force along z axis + if (pos_err.z() < 0) { + // set pos error in z axis to zero => no downward force + pos_err.setZ(0); + } + + // x + walk_pid_controllers_.at(X).update(pos_err.x(), du, vel_err.x()); + + // y + walk_pid_controllers_.at(Y).update(pos_err.y(), du, vel_err.y()); + + // z + walk_pid_controllers_.at(Z).update(pos_err.z(), du, vel_err.z()); + + // w.r.t. world frame + tf::Vector3 target_acc(walk_pid_controllers_.at(X).result(), + walk_pid_controllers_.at(Y).result(), + walk_pid_controllers_.at(Z).result()); + + // assign to target wrench + target_wrench.head(3) = Eigen::Vector3d(target_acc.x(), target_acc.y(), target_acc.z()); + + + // ros pub + pid_msg_.x.total.at(0) = walk_pid_controllers_.at(X).result(); + pid_msg_.x.p_term.at(0) = walk_pid_controllers_.at(X).getPTerm(); + pid_msg_.x.i_term.at(0) = walk_pid_controllers_.at(X).getITerm(); + pid_msg_.x.d_term.at(0) = walk_pid_controllers_.at(X).getDTerm(); + pid_msg_.x.target_p = baselink_target_pos.x(); + pid_msg_.x.err_p = pos_err.x(); + pid_msg_.x.target_d = baselink_target_vel.x(); + pid_msg_.x.err_d = vel_err.x(); + + pid_msg_.y.total.at(0) = walk_pid_controllers_.at(Y).result(); + pid_msg_.y.p_term.at(0) = walk_pid_controllers_.at(Y).getPTerm(); + pid_msg_.y.i_term.at(0) = walk_pid_controllers_.at(Y).getITerm(); + pid_msg_.y.d_term.at(0) = walk_pid_controllers_.at(Y).getDTerm(); + pid_msg_.y.target_p = baselink_target_pos.y(); + pid_msg_.y.err_p = pos_err.y(); + pid_msg_.y.target_d = baselink_target_vel.y(); + pid_msg_.y.err_d = vel_err.y(); + + pid_msg_.z.total.at(0) = walk_pid_controllers_.at(Z).result(); + pid_msg_.z.p_term.at(0) = walk_pid_controllers_.at(Z).getPTerm(); + pid_msg_.z.i_term.at(0) = walk_pid_controllers_.at(Z).getITerm(); + pid_msg_.z.d_term.at(0) = walk_pid_controllers_.at(Z).getDTerm(); + pid_msg_.z.target_p = baselink_target_pos.z(); + pid_msg_.z.err_p = pos_err.z(); + pid_msg_.z.target_d = baselink_target_vel.z(); + pid_msg_.z.err_d = vel_err.z(); + + // update + control_timestamp_ = ros::Time::now().toSec(); + + // allocation + // use all vecotoring angles + // consider cog and baselink are all level + const auto rotors_origin = spidar_robot_model_->getRotorsOriginFromCog(); + const auto links_rot = spidar_robot_model_->getLinksRotationFromCog(); + + // Note: only consider the inside links + Eigen::MatrixXd q_mat = Eigen::MatrixXd::Zero(6, 3 * motor_num_ / 2); + Eigen::MatrixXd wrench_map = Eigen::MatrixXd::Zero(6, 3); + wrench_map.block(0, 0, 3, 3) = Eigen::MatrixXd::Identity(3, 3); + for(int i = 0; i < motor_num_ / 2; i++) { + wrench_map.block(3, 0, 3, 3) = aerial_robot_model::skew(rotors_origin.at(2 * i)); + q_mat.middleCols(3 * i, 3) = wrench_map * links_rot.at(2 * i); + } + auto q_mat_inv = aerial_robot_model::pseudoinverse(q_mat); + Eigen::VectorXd fb_vectoring_f = q_mat_inv * target_wrench; // feed-back control + for(int i = 0; i < motor_num_ / 2; i++) { + target_vectoring_f_.segment(3 * 2 * i, 3) += fb_vectoring_f.segment(3 * i, 3); + } + // ROS_INFO_STREAM_THROTTLE(1.0, "[fb control] fb vectoring f: " << fb_vectoring_f.transpose()); + // ROS_INFO_STREAM("[Spider] [Control] fb vectoring f: " << fb_vectoring_f.transpose()); + // ROS_INFO_STREAM("[Spider] [Control] total thrust vector after fc center: " << target_vectoring_f_.transpose()); + + + // 3. feed-back control: link-wise rotation control + Eigen::VectorXd fb_vectoring_l = Eigen::VectorXd::Zero(3 * motor_num_); + auto target_link_rots = spidar_walk_navigator_->getTargetLinkRots(); + const auto& seg_tf_map = spidar_robot_model_->getSegmentsTf(); + KDL::Frame fr_baselink = seg_tf_map.at(spidar_robot_model_->getBaselinkName()); + tf::Transform tf_w_baselink(estimator_->getOrientation(Frame::BASELINK, estimate_mode_), baselink_pos); + KDL::Frame fw_baselink; + tf::transformTFToKDL(tf_w_baselink, fw_baselink); + double p_gain = walk_pid_controllers_.back().getPGain(); + double i_gain = walk_pid_controllers_.back().getIGain(); + double limit_sum = walk_pid_controllers_.back().getLimitSum(); + double limit_p = walk_pid_controllers_.back().getLimitP(); + double limit_i = walk_pid_controllers_.back().getLimitI(); + + // ROS_INFO_STREAM("p gain: " << p_gain << "; i gain: " << i_gain << "; limit sum: " << limit_sum << "; limit p: " << limit_p << "; limit i: " << limit_i); + std::stringstream ss; + for(int i = 0; i < motor_num_; i++) { + std::string link_name = std::string("link") + std::to_string(i+1); + KDL::Frame fr_link = seg_tf_map.at(link_name); + KDL::Frame fb_link = fr_baselink.Inverse() * fr_link; + KDL::Frame fw_link = fw_baselink * fb_link; + + // calculate the control vector from + // negative means the pivot point is the leg end point + int direct = -1; + + if (i / 2 == spidar_walk_navigator_->getFreeleg()) { + // no contorl for free leg which may induce unstability + continue; + } + + if (i % 2 == 1) { + // outer link (e.g., link2) + // no control for outer link since the effector is too small + continue; + } + + Eigen::Vector3d a = direct * aerial_robot_model::kdlToEigen(fw_link.M.UnitX()); + Eigen::Vector3d b = direct * aerial_robot_model::kdlToEigen(target_link_rots.at(i).UnitX()); + Eigen::Vector3d c = a.cross(b); + Eigen::Vector3d d = c.cross(a); + Eigen::Vector3d d_temp = b - a; + double theta = asin(c.norm()); + + // PI control + // P term + Eigen::Vector3d fw_p_term = clamp(p_gain * d, limit_p); + + // I term + if (fabs(theta) > link_rot_f_control_i_thresh_) { + fw_i_terms_.at(i) = clamp(fw_i_terms_.at(i) + i_gain * d, limit_i); + } + + Eigen::Vector3d fw = clamp(fw_p_term + fw_i_terms_.at(i), limit_sum); + Eigen::Vector3d fb = aerial_robot_model::kdlToEigen(fw_link.M.Inverse()) * fw; + + if (i % 2 == 0) { + // inner link (e.g., link1) + // no downward force in world frame + if (fb.z() < 0) fb.z() = 0; + } + + fb_vectoring_l.segment(3 * i, 3) = fb; + + // ROS_INFO_STREAM("link" << i+1 << ", a: " << a.transpose() << ", b:" << b.transpose() << ", d: " << d.transpose() << ", d_temp: " << d_temp.transpose() << ", fb " << fb.transpose() << ", theta: " << theta); + } + target_vectoring_f_ += fb_vectoring_l; + //ROS_INFO_STREAM_THROTTLE(1.0, "[Spider][Control] thrust control for link-wise rotation, thrust vector: " << fb_vectoring_l.transpose()); + //ROS_INFO_STREAM_THROTTLE(1.0, "[Spider] [Control] [Link Rot] theta: " << ss.str()); + // ROS_INFO_STREAM("[Spider][Control] thrust control for link-wise rotation, thrust vector: " << fb_vectoring_l.transpose()); + // ROS_INFO_STREAM("[Spider] [Control] [Link Rot] theta: " << ss.str()); + // ROS_INFO_STREAM("[Spider] [Control] total thrust vector after fc link: " << target_vectoring_f_.transpose()); + + std_msgs::Float32MultiArray msg; + for(int i = 0; i < fb_vectoring_l.size(); i++) { + msg.data.push_back(fb_vectoring_l(i)); + } + link_rot_thrust_force_pub_.publish(msg); + + + // 4. target lambda and gimbal angles + for(int i = 0; i < motor_num_; i++) { + Eigen::Vector3d f = target_vectoring_f_.segment(3 * i, 3); + + double lambda = f.norm(); + double roll = atan2(-f.y(), f.z()); + double pitch = atan2(f.x(), -f.y() * sin(roll) + f.z() * cos(roll)); + + target_base_thrust_.at(i)= lambda; + target_gimbal_angles_.at(2 * i) = roll; + target_gimbal_angles_.at(2 * i + 1) = pitch; + } +} + +void WalkController::jointControl() +{ + // reset + target_joint_torques_.name.resize(0); + target_joint_torques_.effort.resize(0); + + // do joint soft compliance control + if (joint_soft_compliance_) { + jointSoftComplianceControl(); + return; + } + + // basically, use position control for all joints + auto navi_target_joint_angles = spidar_walk_navigator_->getTargetJointState().position; + target_joint_angles_.position = navi_target_joint_angles; + if (prev_navi_target_joint_angles_.size() == 0) { + prev_navi_target_joint_angles_ = navi_target_joint_angles; + } + if (navigator_->getNaviState() == aerial_robot_navigation::START_STATE) { + prev_navi_target_joint_angles_ = navi_target_joint_angles; + } + + // std::stringstream ss1, ss2; + // for (int i = 0; i < prev_navi_target_joint_angles_.size(); i++) { + // ss1 << prev_navi_target_joint_angles_.at(i) << ", "; + // ss2 << navi_target_joint_angles.at(i) << ", "; + // } + //ROS_INFO_STREAM("prev_navi_target_joint_angles: " << ss1.str()); + //ROS_INFO_STREAM("navi_target_joint_angles: " << ss2.str()); + + auto current_angles = getCurrentJointAngles(); + if (current_angles.size() == 0 || navi_target_joint_angles.size() == 0) { + return; + } + + + const auto& names = target_joint_angles_.name; + auto& target_angles = target_joint_angles_.position; + int joint_num = names.size(); + int leg_num = joint_num / 4; + + // use position control for all joints + if (all_joint_position_control_) { + + // modification for target joint angle + + bool raise_flag = spidar_walk_navigator_->getRaiseLegFlag(); + bool raise_converge = spidar_walk_navigator_->isRaiseLegConverge(); + int free_leg_id = spidar_walk_navigator_->getFreeleg(); + + for(int i = 0; i < joint_num; i++) { + double tor = static_joint_torque_(i); + std::string name = names.at(i); + int j = atoi(name.substr(5,1).c_str()) - 1; // start from 0 + int leg_id = j / 2; + + // WIP: add extra delta angle to deal with pulley strench + // TODO: move this function to + // 1. servo_bridge + // 2. neuron + double bias = tor / servo_angle_bias_torque_ * servo_angle_bias_; + if (contact_transition_ && leg_id == contact_leg_id_ && j % 2 == 1) { + // no extra angle error for outer joint pitch in free leg in contact transition + // e.g., joint2_pitch + bias = 0.0; + } + target_angles.at(i) += bias; + + // set the servo limit torque + tor = servo_max_torque_; + if (navigator_->getNaviState() != aerial_robot_navigation::ARM_ON_STATE) { + continue; + } + + // only consider the yaw angle in the initialize phase + if (name.find("yaw") != std::string::npos && set_init_servo_torque_) { + continue; + } + + target_joint_torques_.name.push_back(name); + target_joint_torques_.effort.push_back(tor); + } + + // special process raise leg + if (raise_flag && !raise_converge) { + // inside pitch joint of the free leg + int i = free_leg_id * 4 + 1; + if (free_leg_torque_mode_) { + + target_angles.at(i) = prior_raise_leg_target_joint_angles_.position.at(i); + if (!raise_transition_) { + int j = free_leg_id * 2; + target_joint_torques_.effort.at(j) = static_joint_torque_(i); + } + } + + if (raise_separate_motion_) { + if (prior_raise_leg_target_joint_angles_.position.at(i) - current_angles.at(i) < 0.05) { + // inside yaw joint of the free leg + i = free_leg_id * 4; + target_angles.at(i) = prior_raise_leg_target_joint_angles_.position.at(i); + // outside pitch joint of the free leg + i = free_leg_id * 4 + 3; + target_angles.at(i) = prior_raise_leg_target_joint_angles_.position.at(i); + } + } + } + + if (navigator_->getNaviState() == aerial_robot_navigation::ARM_ON_STATE && + !set_init_servo_torque_) { + set_init_servo_torque_ = true; + } + + // feedback control about joint torque + double du = ros::Time::now().toSec() - control_timestamp_; + for(int i = 0; i < joint_num; i++) { + std::string name = names.at(i); + int j = atoi(name.substr(5,1).c_str()) - 1; // start from 0 + int leg_id = j / 2; + + double current_angle = current_angles.at(i); + double target_angle = target_angles.at(i); + double err = target_angle - current_angle; + double tor = static_joint_torque_(i); + + // TODO: consider whether skip yaw joint + // if (name.find("yaw") != std::string::npos) { + // target_extra_joint_torque_(i) = 0; + // continue; + // } + + // skip the free leg + if (leg_id == free_leg_id) { + joint_torque_controllers_.at(i).reset(); + target_extra_joint_torque_(i) = 0; + continue; + } + + // skip if angle error is too small + if (fabs(err) < joint_error_angle_thresh_) { + target_extra_joint_torque_(i) = 0; + continue; + } + + // only consider if the joint servo torque is potentially saturated + if (err * tor < joint_error_angle_thresh_) { + target_extra_joint_torque_(i) = 0; + continue; + } + + joint_torque_controllers_.at(i).update(err, du, 0); + target_extra_joint_torque_(i) = joint_torque_controllers_.at(i).result(); + } + std_msgs::Float32MultiArray msg; + for(int i = 0; i < target_extra_joint_torque_.size(); i++) { + msg.data.push_back(target_extra_joint_torque_(i)); + } + extra_joint_torque_pub_.publish(msg); + + return; + } + + + // use torque control for joints that needs large torque load + for(int i = 0; i < joint_num; i++) { + + double current_angle = current_angles.at(i); + double navi_target_angle = navi_target_joint_angles.at(i); + double prev_navi_target_angle = prev_navi_target_joint_angles_.at(i); + double tor = static_joint_torque_(i); + std::string name = names.at(i); + int j = atoi(name.substr(5,1).c_str()) - 1; // start from 0 + int leg_id = j / 2; + + // no joint torque control if robot is not armed + if (navigator_->getNaviState() != aerial_robot_navigation::ARM_ON_STATE) { + return; + } + + // position control for yaw joints + if (name.find("yaw") != std::string::npos) { + // ROS_INFO_STREAM("position control for: " << name); + continue; + } + + // heuristic rule for joints in free leg + if (leg_id == spidar_walk_navigator_->getFreeleg()) { + + prev_navi_target_joint_angles_.at(i) = navi_target_joint_angles.at(i); + bool lower_flag = spidar_walk_navigator_->getLowerLegFlag(); + bool raise_flag = spidar_walk_navigator_->getRaiseLegFlag(); + std::string status = raise_flag?std::string("raise"):std::string("lower"); + + if (j % 2 == 0) { + // inner joint (e.g., joint1_pitch) + // torque rule: set the torque bound as the static torque (small value) for raise and max torque for lower. + // joint is expected to raise / lower quick, + // angle rule: basic position control + + // set joint torque + target_joint_torques_.name.push_back(name); + if (lower_flag && lower_leg_force_i_gain_ == 0) { + // use large torque to lower leg instead of decrease thrust force + tor = servo_max_torque_; + double extra_angle_err = servo_angle_bias_; // workaround: for enough margin to touch ground + target_angles.at(i) += (tor / fabs(tor) * extra_angle_err); + } + target_joint_torques_.effort.push_back(tor); + + ROS_INFO_STREAM(" " << name << ", " << status << ", torque:" << tor << "; target angle: " << target_angles.at(i) << "; current angle: " << current_angle); + } + + if (j % 2 == 1) { + // outer joint (e.g., joint2_pitch) + // torque rule: set the largest one + // angle rule: basic position control + + // set joint torque + target_joint_torques_.name.push_back(name); + target_joint_torques_.effort.push_back(servo_max_torque_); + + ROS_INFO_STREAM(" " << name << ", " << status << ", torque:" << servo_max_torque_ << "; target angle: " << target_angles.at(i) << "; current angle: " << current_angle); + } + + continue; + } + + // heuristic rule for joints in rest of the legs when there is a free leg + // if ((leg_id + leg_num / 2) % leg_num == spidar_walk_navigator_->getFreeleg()) { + if (spidar_walk_navigator_->getFreeleg() != -1 && + leg_id != spidar_walk_navigator_->getFreeleg()) { + + if (j % 2 == 0) { + // inner joint (e.g., joint5_pitch) + + prev_navi_target_joint_angles_.at(i) = navi_target_joint_angles.at(i); + if (raise_leg_large_torque_control_) { + // torque rule: set the torque bound as the max torque to resist the torque from opposite raised leg. + tor = servo_max_torque_; + } + + target_joint_torques_.name.push_back(name); + target_joint_torques_.effort.push_back(tor); + + // angle rule: + double extra_angle_err = 0; + if (opposite_free_leg_joint_torque_control_mode_) { + // rule1: large diff from real target angles to reach the target joint torque + extra_angle_err = 0.1; // for enough margin for large angle error + } + else { + // rule2: basic position control + extra_angle_err = servo_angle_bias_; // add bais due to the pulley + } + target_angles.at(i) += (tor / fabs(tor) * extra_angle_err); + + + // ROS_INFO_STREAM(" " << name << ", opposite free leg, torque:" << tor << "; target angle: " << target_angles.at(i) << "; current angle: " << current_angle << "; real target angle: " << navi_target_angle); + continue; + } + } + + // position control for small joint torque + if (fabs(tor) < joint_torque_control_thresh_) { + continue; + } + + // set joint angles + // large diff from real target angles to reach the target joint torque: torque control + double extra_angle_err = 0.1; // for enough margin for large angle error + + // in contact transition + if (contact_transition_) { + // no extra angle error for outer joint pitch in free leg in contact transition (e.g., joint2_pitch) + if (leg_id == contact_leg_id_ && j % 2 == 1) { + extra_angle_err = 0.0; + } + } + target_angles.at(i) += (tor / fabs(tor) * extra_angle_err); + + // Note: tor > 0: inner pitch joint (e.g., joint1_pitch) + // tor < 0: outer pitch joint (e.g., joint2_pitch) + if (fabs(prev_navi_target_angle - navi_target_angle) > 1e-4) { + + // address the angle bias in pulley system + double modified_navi_target_angle = navi_target_angle + tor / fabs(tor) * servo_angle_bias_; + + if (navi_target_angle > prev_navi_target_angle) { + if (current_angle >= modified_navi_target_angle) { + // the joint converges + prev_navi_target_joint_angles_.at(i) = navi_target_joint_angles.at(i); + ROS_INFO_STREAM("[Spider][Control]" << name << " reaches the new target angle " << navi_target_angle); + } + else { + // increase servo torque to reach the target angle, feedforwardly + if (tor > 0) { + tor = clamp(tor * servo_torque_change_rate_, servo_max_torque_); + ROS_INFO_STREAM("[Spider][Control]" << name << " increase torque."); + } + else { + // increase servo torque to reach the target angle, feedforwardly + tor = clamp(tor / servo_torque_change_rate_, servo_max_torque_); + ROS_INFO_STREAM("[Spider][Control]" << name << " decrease torque."); + + // set joint angles + // set to the current angle for small joint torque + target_angles.at(i) = current_angle; + } + } + } + + if (navi_target_angle < prev_navi_target_angle) { + if (current_angle <= modified_navi_target_angle) { + // the joint converges + prev_navi_target_joint_angles_.at(i) = navi_target_joint_angles.at(i); + ROS_INFO_STREAM("[Spider][Control]" << name << " reaches the new target angle " << navi_target_angle); + } + else { + + if (tor > 0) { + // decrease servo torque to reach the target angle, feedforwardly + tor = clamp(tor / servo_torque_change_rate_, servo_max_torque_); + ROS_INFO_STREAM("[Spider][Control]" << name << " decrease torque."); + + // set joint angles + // set to the current angle for small joint torque + target_angles.at(i) = current_angle; + } + else { + // increase servo torque to reach the target angle, feedforwardly + tor = clamp(tor * servo_torque_change_rate_, servo_max_torque_); + ROS_INFO_STREAM("[Spider][Control]" << name << " increase torque."); + } + } + } + + ROS_WARN("[Spider][Control] %s not converge. prev target: %f, curr target: %f, modified target: %f, real target: %f, curr pos: %f, tor: %f", + name.c_str(), prev_navi_target_angle, navi_target_angle, + modified_navi_target_angle, target_angles.at(i), current_angle, tor); + } + + // set joint torque + target_joint_torques_.name.push_back(names.at(i)); + target_joint_torques_.effort.push_back(tor); + } +} + +void WalkController::calcStaticBalance() +{ + using orig = aerial_robot_model::RobotModel; + const KDL::JntArray gimbal_processed_joint = spidar_robot_model_->getGimbalProcessedJoint(); + const std::vector links_rotation_from_cog = spidar_robot_model_->getLinksRotationFromCog(); + const int joint_num = spidar_robot_model_->getJointNum(); + const int link_joint_num = spidar_robot_model_->getLinkJointIndices().size(); + const int rotor_num = spidar_robot_model_->getRotorNum(); + const int fr_ndof = 3 * rotor_num; + + Eigen::MatrixXd A1_fr_all = Eigen::MatrixXd::Zero(joint_num, fr_ndof); + Eigen::MatrixXd A2_fr = Eigen::MatrixXd::Zero(6, fr_ndof); + + for (int i = 0; i < rotor_num; i++) { + std::string seg_name = std::string("thrust") + std::to_string(i + 1); + Eigen::MatrixXd jac + = spidar_robot_model_->orig::getJacobian(gimbal_processed_joint, seg_name).topRows(3); + Eigen::MatrixXd r = aerial_robot_model::kdlToEigen(links_rotation_from_cog.at(i)); + // describe force w.r.t. local (link) frame + A1_fr_all.middleCols(3 * i, 3) = -jac.rightCols(joint_num).transpose() * r; + A2_fr.middleCols(3 * i, 3) = jac.leftCols(6).transpose() * r; + } + + const int leg_num = rotor_num / 2; + int free_leg_id = spidar_walk_navigator_->getFreeleg(); + if (free_leg_id >= leg_num) + { + ROS_WARN_ONCE("[Spider][Walk][Static] the untouch leg ID exceeds the total leg number, force reset to -1"); + free_leg_id = -1; + } + const int fe_num = leg_num - (int)(free_leg_id >= 0); + const int fe_ndof = 3 * fe_num; + + Eigen::MatrixXd A1_fe_all = Eigen::MatrixXd::Zero(joint_num, fe_ndof); + Eigen::MatrixXd A2_fe = Eigen::MatrixXd::Zero(6, fe_ndof); + const tf::Vector3 rpy = estimator_->getEuler(Frame::BASELINK, estimate_mode_); + Eigen::MatrixXd rot + = aerial_robot_model::kdlToEigen(KDL::Rotation::RPY(rpy.x(), rpy.y(), 0)); // no yaw + //rot = Eigen::Matrix3d::Identity(); // debug. No consideration of baselink rotation + // ROS_INFO_STREAM_THROTTLE(1.0, "baselink rotation, roll: " << rpy.x() << ", pitch: " << rpy.y()); + + int cnt = 0; + for (int i = 0; i < leg_num; i++) { + + if (free_leg_id == i) continue; + + std::string name = std::string("link") + std::to_string((i + 1) *2) + std::string("_foot"); + + // describe jacobian w.r.t the world frame, thus need baselink rotation + Eigen::MatrixXd jac + = rot * (robot_model_->orig::getJacobian(gimbal_processed_joint, name)).topRows(3); + + A1_fe_all.middleCols(3 * cnt, 3) = -jac.rightCols(joint_num).transpose(); + A2_fe.middleCols(3 * cnt, 3) = jac.leftCols(6).transpose(); + + cnt ++; + } + + Eigen::VectorXd b1_all = Eigen::VectorXd::Zero(joint_num); + Eigen::VectorXd b2 = Eigen::VectorXd::Zero(6); + for(const auto& inertia : spidar_robot_model_->getInertiaMap()) { + + // describe jacobian w.r.t the world frame, thus need baselink rotation + Eigen::MatrixXd jac + = rot * (robot_model_->orig::getJacobian(gimbal_processed_joint, + inertia.first, + inertia.second.getCOG())).topRows(3); + + Eigen::VectorXd g = inertia.second.getMass() * (-spidar_robot_model_->getGravity3d()); + b1_all -= jac.rightCols(joint_num).transpose() * g; + b2 += jac.leftCols(6).transpose() * g; + } + + // only consider link joint + Eigen::MatrixXd A1_fe = Eigen::MatrixXd::Zero(link_joint_num, fe_ndof); + Eigen::MatrixXd A1_fr = Eigen::MatrixXd::Zero(link_joint_num, fr_ndof); + Eigen::VectorXd b1 = Eigen::VectorXd::Zero(link_joint_num); + + cnt = 0; + for(int i = 0; i < joint_num; i++) { + if(spidar_robot_model_->getJointNames().at(i) == spidar_robot_model_->getLinkJointNames().at(cnt)) + { + A1_fe.row(cnt) = A1_fe_all.row(i); + A1_fr.row(cnt) = A1_fr_all.row(i); + b1(cnt) = b1_all(i); + cnt++; + } + if(cnt == link_joint_num) break; + } + + + Eigen::MatrixXd A1 = Eigen::MatrixXd::Zero(link_joint_num, fr_ndof + fe_ndof); + A1.leftCols(fr_ndof) = A1_fr; + A1.rightCols(fe_ndof) = A1_fe; + + Eigen::MatrixXd A2 = Eigen::MatrixXd::Zero(6, fr_ndof + fe_ndof); + A2.leftCols(fr_ndof) = A2_fr; + A2.rightCols(fe_ndof) = A2_fe; + + Eigen::MatrixXd W1 = Eigen::MatrixXd::Zero(fr_ndof + fe_ndof, fr_ndof + fe_ndof); + W1.topLeftCorner(fr_ndof, fr_ndof) = thrust_force_weight_ * Eigen::MatrixXd::Identity(fr_ndof, fr_ndof); + Eigen::MatrixXd W2 = joint_torque_weight_ * Eigen::MatrixXd::Identity(link_joint_num, link_joint_num); + + // 4. use thrust force and joint torque, cost and constraint for joint torque + OsqpEigen::Solver qp_solver; + qp_solver.settings()->setVerbosity(false); + qp_solver.settings()->setWarmStart(true); + qp_solver.data()->setNumberOfVariables(fr_ndof + fe_ndof); + qp_solver.data()->setNumberOfConstraints(6 + link_joint_num); + + /* + cost function: + f_all^T W1 f_all + (A1 f_all + b1)^T W2 (A1 f_all + b1) + = f^T (W1 + A1^T W2 A1) f + 2 b1^T A1 f + cons + */ + Eigen::MatrixXd hessian = W1 + A1.transpose() * W2 * A1; + Eigen::SparseMatrix hessian_sparse = hessian.sparseView(); + Eigen::VectorXd gradient = b1.transpose() * W2 * A1; + qp_solver.data()->setHessianMatrix(hessian_sparse); + qp_solver.data()->setGradient(gradient); + + /* equality constraint: zero total wnrech */ + Eigen::MatrixXd constraints = Eigen::MatrixXd::Zero(6 + link_joint_num, fr_ndof + fe_ndof); + constraints.topRows(6) = A2; + constraints.bottomRows(link_joint_num) = A1; + Eigen::SparseMatrix constraint_sparse = constraints.sparseView(); + qp_solver.data()->setLinearConstraintsMatrix(constraint_sparse); + + Eigen::VectorXd b = Eigen::VectorXd::Zero(6 + link_joint_num); + b.head(6) = -b2; + // tor - A1 * f_all_neq - b1 = 0 + // tor = A1 * f_all_neq + b1 + // - max_torque < A1 * f_all_neq + b1 < max_torque + // -b - max_torque < A1 * f_all_neq < -b + max_torque + + // tor - A1 * f_all_neq - b1 - target_extra_joint_torque_ = 0 + // tor - A1 * f_all_neq - b1 = target_extra_joint_torque_ + // tor = A1 * f_all_neq + b1 + target_extra_joint_torque_ + // - max_torque < A1 * f_all_neq + b1 + target_extra_joint_torque_ < max_torque + // -b - target_extra_joint_torque_ - max_torque < A1 * f_all_neq < -b - target_extra_joint_torque_+ max_torque + b.tail(link_joint_num) = -b1 - target_extra_joint_torque_; + Eigen::VectorXd max_torque = Eigen::VectorXd::Zero(6 + link_joint_num); + max_torque.tail(link_joint_num) = joint_static_torque_limit_ * Eigen::VectorXd::Ones(link_joint_num); + + if (free_leg_id != -1) { + max_torque.tail(link_joint_num) = raise_joint_static_torque_limit_ * Eigen::VectorXd::Ones(link_joint_num); + } + Eigen::VectorXd lower_bound = b - max_torque; + Eigen::VectorXd upper_bound = b + max_torque; + qp_solver.data()->setLowerBound(lower_bound); + qp_solver.data()->setUpperBound(upper_bound); + + std::string prefix("[Spider][Walk][Static]"); + if(!qp_solver.initSolver()) { + ROS_ERROR_STREAM(prefix << " can not initialize qp solver"); + return; + } + + double s_t = ros::Time::now().toSec(); + bool res = qp_solver.solve(); + ROS_INFO_STREAM_ONCE(prefix << " QP solve time: " << ros::Time::now().toSec() - s_t); + + if(!res) { + ROS_ERROR_STREAM(prefix << "can not solve QP"); + return; + } + + Eigen::VectorXd f_all_neq = qp_solver.getSolution(); + Eigen::VectorXd fr = f_all_neq.head(fr_ndof); + Eigen::VectorXd fe = f_all_neq.tail(fe_ndof); + Eigen::VectorXd tor = A1 * f_all_neq + b1 + target_extra_joint_torque_; + Eigen::VectorXd lambda = Eigen::VectorXd::Zero(rotor_num); + for(int i = 0; i < rotor_num; i++) { + lambda(i) = fr.segment(3 * i, 3).norm(); + } + + ROS_INFO_STREAM_ONCE(prefix << " Thrust force for stand: " << fr.transpose()); + ROS_INFO_STREAM_ONCE(prefix << " Contact force for stand: " << fe.transpose()); + ROS_INFO_STREAM_ONCE(prefix << " Joint Torque: " << tor.transpose()); + ROS_INFO_STREAM_ONCE(prefix << " Wrench: " << (A2 * f_all_neq + b2).transpose()); + ROS_INFO_STREAM_ONCE(prefix << " Thrust force lambda: " << lambda.transpose()); + + // ROS_INFO_STREAM_THROTTLE(1.0, prefix << " Thrust force for stand: " << fr.transpose()); + // ROS_INFO_STREAM_THROTTLE(1.0, prefix << " Contact force for stand: " << fe.transpose()); + // ROS_INFO_STREAM_THROTTLE(1.0, prefix << " Joint Torque: " << (A1 * f_all_neq + b1).transpose()); + // ROS_INFO_STREAM_THROTTLE(1.0, prefix << " Wrench: " << (A2 * f_all_neq + b2).transpose()); + // ROS_INFO_STREAM_THROTTLE(1.0, prefix << " Thrust force lambda: " << lambda.transpose()); + + // set static thrust force and joint torque + static_thrust_force_ = fr; + static_joint_torque_ = tor; +} + +void WalkController::jointSoftComplianceControl() +{ + // use torque control for pitch joints that needs large torque load + const auto current_angles = getCurrentJointAngles(); + + if (current_angles.size() == 0) { + return; + } + + if (joint_compliance_end_t_ < ros::Time::now().toSec()) { + joint_soft_compliance_ = false; + } + + // compliance to fit the current joint angles + target_joint_angles_.position = current_angles; +} + +void WalkController::sendCmd() +{ + PoseLinearController::sendCmd(); + + // send ros message for monitoring + std_msgs::Float32MultiArray target_vectoring_force_msg; + for(int i = 0; i < target_vectoring_f_.size(); i++) { + target_vectoring_force_msg.data.push_back(target_vectoring_f_(i)); + } + target_vectoring_force_pub_.publish(target_vectoring_force_msg); + + // send joint command + if (navigator_->getNaviState() == aerial_robot_navigation::ARM_ON_STATE || + joint_soft_compliance_) { + + // joint target angles + double st = target_joint_angles_.header.stamp.toSec(); + if (ros::Time::now().toSec() - st > 1 / joint_ctrl_rate_) { + target_joint_angles_.header.stamp = ros::Time::now(); + joint_angle_pub_.publish(target_joint_angles_); + + // joint target torques + if (target_joint_torques_.name.size() > 0) { + joint_torque_pub_.publish(target_joint_torques_); + } + } + + } + + if (navigator_->getNaviState() == aerial_robot_navigation::ARM_ON_STATE) { + + /* send base throttle command */ + spinal::FourAxisCommand flight_command_data; + flight_command_data.base_thrust = target_base_thrust_; + flight_cmd_pub_.publish(flight_command_data); + + /* send gimbal control command */ + sensor_msgs::JointState gimbal_control_msg; + gimbal_control_msg.header.stamp = ros::Time::now(); + + for(int i = 0; i < motor_num_ * 2; i++) + gimbal_control_msg.position.push_back(target_gimbal_angles_.at(i)); + + gimbal_control_pub_.publish(gimbal_control_msg); + } +} + +void WalkController::startRaiseTransition() +{ + raise_transition_ = true; + free_leg_force_ratio_ = 0; + raise_static_thrust_force_ = static_thrust_force_; // record the thrust force for raise + prev_t_ = ros::Time::now().toSec(); + + int free_leg_id = spidar_walk_navigator_->getFreeleg(); + int i = free_leg_id * 4 + 1; + + prior_raise_leg_target_joint_angles_ = target_joint_angles_; + ROS_INFO_STREAM("[Spider][Walk][Thrust Control] start raise transition"); +} + +void WalkController::startLowerLeg() +{ + prev_t_ = ros::Time::now().toSec(); + + auto current_angles = getCurrentJointAngles(); + int leg_id = spidar_walk_navigator_->getFreeleg(); + if (leg_id < 0) { + ROS_ERROR_STREAM("[Spider][Walk][Thrust Control] no valid leg to lower, leg id is " << leg_id); + } + + prev_v_ = current_angles.at(4 * leg_id + 1); // hard-coding for pitch angle + + ROS_INFO_STREAM("[Spider][Walk][Thrust Control] start lower leg, start angle is " << prev_v_); +} + +void WalkController::startContactTransition(int leg_id) +{ + contact_transition_ = true; + contact_transtion_init_ratio_ = free_leg_force_ratio_; + contact_leg_id_ = leg_id; + raise_static_thrust_force_ = static_thrust_force_; // record the thrust force for raise + raise_static_thrust_force_.segment(6 * contact_leg_id_, 6) *= contact_transtion_init_ratio_; + + ROS_INFO_STREAM("[Spider][Walk][Thrust Control] start contact transition"); +} + + +bool WalkController::servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res, const std::string& name) +{ + int offset = 0; + if (name == std::string("yaw")) offset = 0; + if (name == std::string("pitch")) offset = 1; + + int rotor_num = spidar_robot_model_->getRotorNum(); + spinal::ServoTorqueCmd servo_enable_msg; + for (int i = 0; i < rotor_num; i++) { + servo_enable_msg.index.push_back(4 * i + offset); + servo_enable_msg.torque_enable.push_back(req.data); + } + joint_servo_enable_pub_.publish(servo_enable_msg); + + return true; +} + +void WalkController::jointSoftComplianceCallback(const std_msgs::EmptyConstPtr& msg) +{ + joint_soft_compliance_ = true; + joint_compliance_end_t_ = ros::Time::now().toSec() + 5.0; // 10.0 is a paramter +} + +void WalkController::cfgPidCallback(aerial_robot_control::PidControlConfig &config, uint32_t level, std::vector controller_indices) +{ + using Levels = aerial_robot_msgs::DynamicReconfigureLevels; + if(config.pid_control_flag) + { + switch(level) + { + case Levels::RECONFIGURE_P_GAIN: + for(const auto& index: controller_indices) + { + walk_pid_controllers_.at(index).setPGain(config.p_gain); + ROS_INFO_STREAM("change p gain for walk PID controller '" << walk_pid_controllers_.at(index).getName() << "'"); + } + break; + case Levels::RECONFIGURE_I_GAIN: + for(const auto& index: controller_indices) + { + walk_pid_controllers_.at(index).setIGain(config.i_gain); + ROS_INFO_STREAM("change i gain for walk PID controller '" << walk_pid_controllers_.at(index).getName() << "'"); + } + break; + case Levels::RECONFIGURE_D_GAIN: + for(const auto& index: controller_indices) + { + walk_pid_controllers_.at(index).setDGain(config.d_gain); + ROS_INFO_STREAM("change d gain for walk PID controller '" << walk_pid_controllers_.at(index).getName() << "'"); + } + break; + default : + break; + } + } +} + +// utils +void WalkController::setJointIndexMap() +{ + const auto current_joint_state = spidar_robot_model_->getGimbalProcessedJoint(); + const auto& search_v = current_joint_state.name; + + joint_index_map_.resize(0); // resize + const auto& joint_names = target_joint_angles_.name; + for(const auto& n: joint_names) { + + auto res = std::find(search_v.begin(), search_v.end(), n); + + if (res == search_v.end()) { + ROS_ERROR_STREAM("[Spider] joint index mapping, cannot find " << n); + continue; + } + + auto id = std::distance(search_v.begin(), res); + + joint_index_map_.push_back(id); + } +} + +std::vector WalkController::getCurrentJointAngles() +{ + const auto current_joint_state = spidar_robot_model_->getGimbalProcessedJoint(); + std::vector angles(0); + for(const auto id: joint_index_map_) { + angles.push_back(current_joint_state.position.at(id)); + } + + return angles; +} + +bool WalkController::samejointAngles(std::vector group_a, std::vector group_b) +{ + bool res = true; + + if (group_a.size() != group_b.size()) { + ROS_ERROR_STREAM("[Spider][Control] compare joint angles between two groups, but the sizes are different. " << group_a.size() << "VS " << group_b.size()); + return false; + } + + for (int i = 0; i < group_a.size(); i++) { + if (group_a.at(i) != group_b.at(i)) { + res = false; + break; + } + } + + return res; +} + +bool WalkController::getContactTransition() +{ + return contact_transition_; +} + +void WalkController::reset() +{ + PoseLinearController::reset(); + prev_navi_target_joint_angles_.resize(0); + + for (int i = 0; i < motor_num_; i++) { + fw_i_terms_.push_back(Eigen::Vector3d::Zero()); + } +} + +Eigen::VectorXd WalkController::clamp(Eigen::VectorXd v, double b) +{ + if (b < 0) { + ROS_ERROR("vector clamp: b (%f) should not be negative", b); + return v; + } + + if (v.norm() <= b) return v; + + return v.normalized() * b; +} + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(aerial_robot_control::Spider::WalkController, aerial_robot_control::ControlBase); diff --git a/robots/spidar/src/model/full_vectoring_robot_model.cpp b/robots/spidar/src/model/full_vectoring_robot_model.cpp new file mode 100644 index 000000000..6ae914d55 --- /dev/null +++ b/robots/spidar/src/model/full_vectoring_robot_model.cpp @@ -0,0 +1,59 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2022, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include + +using namespace Spider; + + +FullVectoringRobotModel::FullVectoringRobotModel(bool init_with_rosparam, bool verbose, double edf_radius, double edf_max_tilt) : + Dragon::FullVectoringRobotModel(init_with_rosparam, verbose, edf_radius, edf_max_tilt) +{ +} + +void FullVectoringRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_positions) +{ + Dragon::FullVectoringRobotModel::updateRobotModelImpl(joint_positions); + + calcJointTorque(true); + const auto& joint_torque = getJointTorque(); + // ROS_INFO_STREAM_THROTTLE(1.0, "hovering thrust is: " << getHoverVectoringF().transpose()); + // ROS_INFO_THROTTLE(1.0, "joint static torque for Limb1 is: [%f, %f, %f, %f]", joint_torque(0), joint_torque(1), joint_torque(4), joint_torque(5)); +} + + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(Spider::FullVectoringRobotModel, aerial_robot_model::RobotModel); diff --git a/robots/spidar/src/model/ground_robot_model.cpp b/robots/spidar/src/model/ground_robot_model.cpp new file mode 100644 index 000000000..ddcd3127b --- /dev/null +++ b/robots/spidar/src/model/ground_robot_model.cpp @@ -0,0 +1,423 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2022, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include + +using namespace Spider; + + +GroundRobotModel::GroundRobotModel(bool init_with_rosparam, bool verbose, double edf_radius, double edf_max_tilt) : + Dragon::FullVectoringRobotModel(init_with_rosparam, verbose, edf_radius, edf_max_tilt) +{ + ros::NodeHandle nh; + + nh.param("calculate_walk_statics", calculate_walk_statics_, false); + + nh.param("joint_torque_limit", joint_torque_limit_, 3.0); + nh.param("init_free_leg", free_leg_id_, -1); +} + +void GroundRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_positions) +{ + Dragon::FullVectoringRobotModel::updateRobotModelImpl(joint_positions); + + if (!calculate_walk_statics_) { + return; + } + + KDL::JntArray gimbal_processed_joint = getGimbalProcessedJoint(); + std::vector links_rotation_from_cog = getLinksRotationFromCog(); + + calcBasicKinematicsJacobian(); + const auto& thrust_coord_jacobians = getThrustCoordJacobians(); + const int joint_num = getJointNum(); + const int link_joint_num = getLinkJointIndices().size(); + const int rotor_num = getRotorNum(); + const int fr_ndof = 3 * rotor_num; + + Eigen::MatrixXd A1_fr_all = Eigen::MatrixXd::Zero(joint_num, fr_ndof); + Eigen::MatrixXd A2_fr = Eigen::MatrixXd::Zero(6, fr_ndof); + + for (int i = 0; i < rotor_num; i++) { + Eigen::MatrixXd a = -thrust_coord_jacobians.at(i).topRows(3).rightCols(joint_num).transpose(); + Eigen::MatrixXd r = aerial_robot_model::kdlToEigen(links_rotation_from_cog.at(i)); + // describe force w.r.t. local (link) frame + A1_fr_all.middleCols(3 * i, 3) = a * r; + A2_fr.middleCols(3 * i, 3) = thrust_coord_jacobians.at(i).topRows(3).leftCols(6).transpose() * r; + } + + const int leg_num = rotor_num / 2; + if (free_leg_id_ >= leg_num) + { + ROS_WARN_ONCE("The untouch leg ID exceeds the total leg number, reset to -1"); + free_leg_id_ = -1; + } + const int fe_num = leg_num - (int)(free_leg_id_ >= 0); + const int fe_ndof = 3 * fe_num; + + Eigen::MatrixXd A1_fe_all = Eigen::MatrixXd::Zero(joint_num, fe_ndof); + Eigen::MatrixXd A2_fe = Eigen::MatrixXd::Zero(6, fe_ndof); + std::vector ee_coord_jacobians; + int cnt = 0; + for (int i = 0; i < leg_num; i++) { + + if (free_leg_id_ == i) continue; + + std::string name = std::string("link") + std::to_string((i + 1) *2) + std::string("_foot"); + + Eigen::MatrixXd jac = RobotModel::getJacobian(gimbal_processed_joint, name); + ee_coord_jacobians.push_back(jac); + + A1_fe_all.middleCols(3 * cnt, 3) = -jac.topRows(3).rightCols(joint_num).transpose(); + A2_fe.middleCols(3 * cnt, 3) = jac.topRows(3).leftCols(6).transpose(); + + cnt ++; + } + + + Eigen::VectorXd b1_all = Eigen::VectorXd::Zero(joint_num); + Eigen::VectorXd b2 = Eigen::VectorXd::Zero(6); + for(const auto& inertia : getInertiaMap()) { + + Eigen::MatrixXd cog_coord_jacobian + = RobotModel::getJacobian(gimbal_processed_joint, inertia.first, inertia.second.getCOG()); + + b1_all + -= cog_coord_jacobian.rightCols(joint_num).transpose() + * inertia.second.getMass() * (-getGravity()); + + b2 + += cog_coord_jacobian.leftCols(6).transpose() + * inertia.second.getMass() * (-getGravity()); + } + + // only consider link joint + Eigen::MatrixXd A1_fe = Eigen::MatrixXd::Zero(link_joint_num, fe_ndof); + Eigen::MatrixXd A1_fr = Eigen::MatrixXd::Zero(link_joint_num, fr_ndof); + Eigen::VectorXd b1 = Eigen::VectorXd::Zero(link_joint_num); + + cnt = 0; + for(int i = 0; i < joint_num; i++) { + if(getJointNames().at(i) == getLinkJointNames().at(cnt)) + { + A1_fe.row(cnt) = A1_fe_all.row(i); + A1_fr.row(cnt) = A1_fr_all.row(i); + b1(cnt) = b1_all(i); + cnt++; + } + if(cnt == link_joint_num) break; + } + + // Analytical Solution + { + // 1. calcualte the contact force in foots only by joint torque + Eigen::MatrixXd Psi = (A1_fe.transpose() * A1_fe).inverse(); + Eigen::MatrixXd C = Psi * A2_fe.transpose() * (A2_fe * Psi * A2_fe.transpose()).inverse(); + Eigen::MatrixXd E = Eigen::MatrixXd::Identity(fe_ndof, fe_ndof); + Eigen::VectorXd fe = - C * b2 - (E - C * A2_fe) * Psi * A1_fe.transpose() * b1; + Eigen::VectorXd tor = b1 + A1_fe * fe; + ROS_INFO_STREAM_ONCE("[Analytical] calcualte the contact force in foots only by joint torque"); + ROS_INFO_STREAM_ONCE("Contact Force: " << fe.transpose()); + ROS_INFO_STREAM_ONCE("Joint Torque: " << tor.transpose()); + ROS_INFO_STREAM_ONCE("Wrench: " << (A2_fe * fe + b2).transpose() << "\n"); + + // 2. calcualte the contact force in foots by joint torque and thrust force + Eigen::MatrixXd A1 = Eigen::MatrixXd::Zero(link_joint_num, fr_ndof + fe_ndof); + A1.leftCols(fr_ndof) = A1_fr; + A1.rightCols(fe_ndof) = A1_fe; + + Eigen::MatrixXd A2 = Eigen::MatrixXd::Zero(6, fr_ndof + fe_ndof); + A2.leftCols(fr_ndof) = A2_fr; + A2.rightCols(fe_ndof) = A2_fe; + Eigen::MatrixXd W1 = Eigen::MatrixXd::Zero(fr_ndof + fe_ndof, fr_ndof + fe_ndof); + W1.topLeftCorner(fr_ndof, fr_ndof) = thrust_force_weight_ * Eigen::MatrixXd::Identity(fr_ndof, fr_ndof); + Eigen::MatrixXd W2 = joint_torque_weight_ * Eigen::MatrixXd::Identity(link_joint_num, link_joint_num); + + Psi = (W1 + A1.transpose() * W2 * A1).inverse(); + C = Psi * A2.transpose() * (A2 * Psi * A2.transpose()).inverse(); + E = Eigen::MatrixXd::Identity(fr_ndof + fe_ndof, fr_ndof + fe_ndof); + Eigen::VectorXd f_all = - C * b2 - (E - C * A2) * Psi * A1.transpose() * W2 * b1; + Eigen::VectorXd fr = f_all.head(fr_ndof); + Eigen::VectorXd lambda = Eigen::VectorXd::Zero(rotor_num); + for(int i = 0; i < rotor_num; i++) { + lambda(i) = fr.segment(3 * i, 3).norm(); + } + ROS_INFO_STREAM_ONCE("[Analytical] calcualte the contact force in foots by joint torque and thrust force"); + ROS_INFO_STREAM_ONCE("Thrust force: " << fr.transpose()); + ROS_INFO_STREAM_ONCE("Contact force: " << f_all.tail(fe_ndof).transpose()); + ROS_INFO_STREAM_ONCE("Joint Torque: " << (A1 * f_all + b1).transpose()); + ROS_INFO_STREAM_ONCE("Wrench: " << (A2 * f_all + b2).transpose()); + ROS_INFO_STREAM_ONCE("Thrust force lambda: " << lambda.transpose() << "\n"); + } + + + // QP Solution + if (free_leg_id_ == -1) { + // 1. only use joint torque for stand + OsqpEigen::Solver qp_solver; + qp_solver.settings()->setVerbosity(false); + qp_solver.settings()->setWarmStart(true); + /*** set the initial data of the QP solver ***/ + qp_solver.data()->setNumberOfVariables(fe_ndof); + qp_solver.data()->setNumberOfConstraints(6); + + /* + cost function: + (A1_fe fe + b1)^T (A1_fe fe + b1) + = f^T A1_fe^T A1_fe f + 2 b1^T A1_fe f + cons + */ + Eigen::MatrixXd hessian = A1_fe.transpose() * A1_fe; + Eigen::SparseMatrix hessian_sparse = hessian.sparseView(); + qp_solver.data()->setHessianMatrix(hessian_sparse); + + Eigen::VectorXd gradient = b1.transpose() * A1_fe; + qp_solver.data()->setGradient(gradient); + + /* equality constraint: zero total wnrech */ + Eigen::SparseMatrix constraint_sparse = (-A2_fe).sparseView(); + qp_solver.data()->setLinearConstraintsMatrix(constraint_sparse); + qp_solver.data()->setLowerBound(b2); + qp_solver.data()->setUpperBound(b2); + + ROS_INFO_STREAM_ONCE("[QP] calcualte the contact force in foots only by joint torque"); + if(!qp_solver.initSolver()) { + ROS_ERROR("can not initialize qp solver"); + } + + bool res = qp_solver.solve(); + if(!res) { + ROS_ERROR("can not solve QP"); + } + else { + Eigen::VectorXd fe = qp_solver.getSolution(); + Eigen::VectorXd tor = b1 + A1_fe * fe; + + ROS_INFO_STREAM_ONCE("Contact Force: " << fe.transpose()); + ROS_INFO_STREAM_ONCE("Joint Torque: " << tor.transpose()); + ROS_INFO_STREAM_ONCE("Wrench: " << (A2_fe * fe + b2).transpose() << "\n"); + } + } + + // 2. use thrust force and joint torque for standing, cost func for joint torque + OsqpEigen::Solver qp_solver2; + qp_solver2.settings()->setVerbosity(false); + qp_solver2.settings()->setWarmStart(true); + qp_solver2.data()->setNumberOfVariables(fr_ndof + fe_ndof); + qp_solver2.data()->setNumberOfConstraints(6); + + /* + cost function: + f_all^T W1 f_all + (A1 f_all + b1)^T W2 (A1 f_all + b1) + = f^T (W1 + A1^T W2 A1) f + 2 b1^T W2 A1 f + cons + */ + Eigen::MatrixXd A1 = Eigen::MatrixXd::Zero(link_joint_num, fr_ndof + fe_ndof); + A1.leftCols(fr_ndof) = A1_fr; + A1.rightCols(fe_ndof) = A1_fe; + + Eigen::MatrixXd A2 = Eigen::MatrixXd::Zero(6, fr_ndof + fe_ndof); + A2.leftCols(fr_ndof) = A2_fr; + A2.rightCols(fe_ndof) = A2_fe; + + Eigen::MatrixXd W1 = Eigen::MatrixXd::Zero(fr_ndof + fe_ndof, fr_ndof + fe_ndof); + W1.topLeftCorner(fr_ndof, fr_ndof) = thrust_force_weight_ * Eigen::MatrixXd::Identity(fr_ndof, fr_ndof); + Eigen::MatrixXd W2 = joint_torque_weight_ * Eigen::MatrixXd::Identity(link_joint_num, link_joint_num); + + Eigen::MatrixXd hessian2 = W1 + A1.transpose() * W2 * A1; + Eigen::SparseMatrix hessian_sparse2 = hessian2.sparseView(); + qp_solver2.data()->setHessianMatrix(hessian_sparse2); + + Eigen::VectorXd gradient2 = b1.transpose() * W2 * A1; + qp_solver2.data()->setGradient(gradient2); + + /* equality constraint: zero total wnrech */ + Eigen::SparseMatrix constraint_sparse2 = (-A2).sparseView(); + qp_solver2.data()->setLinearConstraintsMatrix(constraint_sparse2); + qp_solver2.data()->setLowerBound(b2); + qp_solver2.data()->setUpperBound(b2); + + ROS_INFO_STREAM_ONCE("[QP] calcualte the contact force in foots only by joint torque and thrust force, cost func for thrust force and joint torque, no constraint"); + if(!qp_solver2.initSolver()) { + ROS_ERROR("can not initialize qp solver"); + } + + double s_t = ros::Time::now().toSec(); + bool res = qp_solver2.solve(); + ROS_INFO_STREAM_ONCE("solve: " << ros::Time::now().toSec() - s_t); + if(!res) { + ROS_ERROR("can not solve QP"); + } + else { + + Eigen::VectorXd f_all = qp_solver2.getSolution(); + Eigen::VectorXd fr = f_all.head(fr_ndof); + Eigen::VectorXd lambda = Eigen::VectorXd::Zero(rotor_num); + for(int i = 0; i < rotor_num; i++) { + lambda(i) = fr.segment(3 * i, 3).norm(); + } + + ROS_INFO_STREAM_ONCE("Thrust force: " << fr.transpose()); + ROS_INFO_STREAM_ONCE("Contact force: " << f_all.tail(fe_ndof).transpose()); + ROS_INFO_STREAM_ONCE("Joint Torque: " << (A1 * f_all + b1).transpose()); + ROS_INFO_STREAM_ONCE("Wrench: " << (A2 * f_all + b2).transpose()); + ROS_INFO_STREAM_ONCE("Thrust force lambda: " << lambda.transpose() << "\n"); + } + + // 3. use thrust force and joint torque, constraint for joint torque + OsqpEigen::Solver qp_solver3; + qp_solver3.settings()->setVerbosity(false); + qp_solver3.settings()->setWarmStart(true); + qp_solver3.data()->setNumberOfVariables(fr_ndof + fe_ndof); + qp_solver3.data()->setNumberOfConstraints(6 + link_joint_num); + + /* + cost function: f_all^T W1 f_all + */ + Eigen::MatrixXd hessian3 = W1; + Eigen::SparseMatrix hessian_sparse3 = hessian3.sparseView(); + qp_solver3.data()->setHessianMatrix(hessian_sparse3); + + Eigen::VectorXd gradient3 = Eigen::VectorXd::Zero(fr_ndof + fe_ndof); + qp_solver3.data()->setGradient(gradient3); + + /* equality constraint: zero total wnrech */ + Eigen::MatrixXd constraints = Eigen::MatrixXd::Zero(6 + link_joint_num, fr_ndof + fe_ndof); + constraints.topRows(6) = A2; + constraints.bottomRows(link_joint_num) = A1; + Eigen::SparseMatrix constraint_sparse3 = constraints.sparseView(); + qp_solver3.data()->setLinearConstraintsMatrix(constraint_sparse3); + Eigen::VectorXd b = Eigen::VectorXd::Zero(6 + link_joint_num); + b.head(6) = -b2; + b.tail(link_joint_num) = -b1; + Eigen::VectorXd max_torque = Eigen::VectorXd::Zero(6 + link_joint_num); + max_torque.tail(link_joint_num) = joint_torque_limit_ * Eigen::VectorXd::Ones(link_joint_num); + + Eigen::VectorXd lower_bound = b - max_torque; + Eigen::VectorXd upper_bound = b + max_torque; + qp_solver3.data()->setLowerBound(lower_bound); + qp_solver3.data()->setUpperBound(upper_bound); + + ROS_INFO_STREAM_ONCE("[QP] calcualte the contact force in foots only by joint torque and thrust force, cost func for thrust force only, constraint for joitn torque "); + if(!qp_solver3.initSolver()) { + ROS_ERROR("can not initialize qp solver"); + } + + s_t = ros::Time::now().toSec(); + res = qp_solver3.solve(); + ROS_INFO_STREAM_ONCE(" solve: " << ros::Time::now().toSec() - s_t); + if(!res) { + ROS_ERROR("can not solve QP"); + } + else { + + Eigen::VectorXd f_all_neq = qp_solver3.getSolution(); + Eigen::VectorXd fr = f_all_neq.head(fr_ndof); + Eigen::VectorXd fe = f_all_neq.tail(fe_ndof); + Eigen::VectorXd tor = A1 * f_all_neq + b1; + Eigen::VectorXd lambda = Eigen::VectorXd::Zero(rotor_num); + for(int i = 0; i < rotor_num; i++) { + lambda(i) = fr.segment(3 * i, 3).norm(); + } + + ROS_INFO_STREAM_ONCE("Thrust force: " << fr.transpose()); + ROS_INFO_STREAM_ONCE("Contact force: " << fe.transpose()); + ROS_INFO_STREAM_ONCE("Joint Torque: " << tor.transpose()); + ROS_INFO_STREAM_ONCE("Wrench: " << (A2 * f_all_neq + b2).transpose()); + ROS_INFO_STREAM_ONCE("Thrust force lambda: " << lambda.transpose() << "\n"); + } + + // 4. use thrust force and joint torque, cost and constraint for joint torque + OsqpEigen::Solver qp_solver4; + qp_solver4.settings()->setVerbosity(false); + qp_solver4.settings()->setWarmStart(true); + qp_solver4.data()->setNumberOfVariables(fr_ndof + fe_ndof); + qp_solver4.data()->setNumberOfConstraints(6 + link_joint_num); + + /* + cost function: + f_all^T W1 f_all + (A1 f_all + b1)^T W2 (A1 f_all + b1) + = f^T (W1 + A1^T W2 A1) f + 2 b1^T A1 f + cons + */ + qp_solver4.data()->setHessianMatrix(hessian_sparse2); + qp_solver4.data()->setGradient(gradient2); + + /* equality constraint: zero total wnrech */ + constraints = Eigen::MatrixXd::Zero(6 + link_joint_num, fr_ndof + fe_ndof); + constraints.topRows(6) = A2; + constraints.bottomRows(link_joint_num) = A1; + Eigen::SparseMatrix constraint_sparse4 = constraints.sparseView(); + qp_solver4.data()->setLinearConstraintsMatrix(constraint_sparse4); + qp_solver4.data()->setLowerBound(lower_bound); + qp_solver4.data()->setUpperBound(upper_bound); + + ROS_INFO_STREAM_ONCE("[QP] calcualte the contact force in foots only by joint torque and thrust force, cost func for joint torque and thrust force, constraint for joitn torque"); + if(!qp_solver4.initSolver()) { + ROS_ERROR("can not initialize qp solver"); + } + + s_t = ros::Time::now().toSec(); + res = qp_solver4.solve(); + ROS_INFO_STREAM_ONCE("QP solve: " << ros::Time::now().toSec() - s_t); + if(!res) { + ROS_ERROR("can not solve QP"); + } + else { + + Eigen::VectorXd f_all_neq = qp_solver4.getSolution(); + Eigen::VectorXd fr = f_all_neq.head(fr_ndof); + Eigen::VectorXd fe = f_all_neq.tail(fe_ndof); + Eigen::VectorXd tor = A1 * f_all_neq + b1; + + Eigen::VectorXd lambda = Eigen::VectorXd::Zero(rotor_num); + for(int i = 0; i < rotor_num; i++) { + lambda(i) = fr.segment(3 * i, 3).norm(); + } + + ROS_INFO_STREAM_ONCE("Thrust force: " << fr.transpose()); + ROS_INFO_STREAM_ONCE("Contact force: " << fe.transpose()); + ROS_INFO_STREAM_ONCE("Joint Torque: " << tor.transpose()); + ROS_INFO_STREAM_ONCE("Wrench: " << (A2 * f_all_neq + b2).transpose()); + ROS_INFO_STREAM_ONCE("Thrust force lambda: " << lambda.transpose() << "\n"); + + setStaticVectoringF(fr); + setStaticJointT(tor); + } + +} + + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(Spider::GroundRobotModel, aerial_robot_model::RobotModel); diff --git a/robots/spidar/src/model/hydrus_like_robot_model.cpp b/robots/spidar/src/model/hydrus_like_robot_model.cpp new file mode 100644 index 000000000..356cf81ca --- /dev/null +++ b/robots/spidar/src/model/hydrus_like_robot_model.cpp @@ -0,0 +1,22 @@ +#include + +using namespace Spider; + +HydrusLikeRobotModel::HydrusLikeRobotModel(bool init_with_rosparam, bool verbose, double fc_t_min_thre, double fc_rp_min_thre, double epsilon, double edf_radius, double edf_max_tilt) : Dragon::HydrusLikeRobotModel(init_with_rosparam, verbose, fc_t_min_thre, fc_rp_min_thre, epsilon, edf_radius, edf_max_tilt) +{ +} + + +void HydrusLikeRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_positions) +{ + Dragon::HydrusLikeRobotModel::updateRobotModelImpl(joint_positions); + + calcJointTorque(true); + + const auto& joint_torque = getJointTorque(); + ROS_INFO_THROTTLE(1.0, "joint static torque for Limb1 is: [%f, %f, %f, %f]", joint_torque(0), joint_torque(1), joint_torque(4), joint_torque(5)); +} + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(Spider::HydrusLikeRobotModel, aerial_robot_model::RobotModel); diff --git a/robots/spidar/src/navigation/flight_navigation.cpp b/robots/spidar/src/navigation/flight_navigation.cpp new file mode 100644 index 000000000..534ef8364 --- /dev/null +++ b/robots/spidar/src/navigation/flight_navigation.cpp @@ -0,0 +1,131 @@ +#include + +using namespace aerial_robot_navigation; +using namespace aerial_robot_navigation::Spider; + +FlightNavigator::FlightNavigator(): + DragonNavigator() +{ +} + + +void FlightNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator) +{ + /* initialize the flight control */ + DragonNavigator::initialize(nh, nhp, robot_model, estimator); + + ros::NodeHandle land_nh(nh_, "navigation/land"); + getParam(land_nh, "inside_land_pitch_angle", inside_land_pitch_angle_, -0.1); + getParam(land_nh, "outside_land_pitch_angle", outside_land_pitch_angle_, 0.2); +} + +void FlightNavigator::landingProcess() +{ + if(getForceLandingFlag() || getNaviState() == LAND_STATE) + { + if(!level_flag_) + { + const auto joint_state = robot_model_->kdlJointToMsg(robot_model_->getJointPositions()); + sensor_msgs::JointState joint_control_msg; + int joint_num = joint_state.position.size(); + for(int i = 0; i < joint_num; i++) + { + std::string name = joint_state.name.at(i); + if(name.find("joint") != std::string::npos) + { + double target_cmd; + if(name.find("pitch") != std::string::npos) + { + int j = atoi(name.substr(5,1).c_str()) - 1; // start from 0 + + if (j % 2 == 0) + { + target_cmd = inside_land_pitch_angle_; + } + else + { + target_cmd = outside_land_pitch_angle_; + } + } + else + { + target_cmd = joint_state.position[i]; + } + + joint_control_msg.name.push_back(name); + joint_control_msg.position.push_back(target_cmd); + + } + } + + + joint_control_pub_.publish(joint_control_msg); + final_target_baselink_rot_.setValue(0, 0, 0); + + double curr_roll = estimator_->getState(State::ROLL_BASE, estimate_mode_)[0]; + double curr_pitch = estimator_->getState(State::PITCH_BASE, estimate_mode_)[0]; + + if(fabs(fabs(curr_pitch) - M_PI/2) < 0.05 && fabs(curr_roll) > M_PI/2) // singularity of XYZ Euler + curr_roll = 0; + + /* force set the current deisre tilt to current estimated tilt */ + curr_target_baselink_rot_.setValue(curr_roll, curr_pitch, 0); + } + + level_flag_ = true; + + if(getNaviState() == LAND_STATE && !landing_flag_) + { + landing_flag_ = true; + setTeleopFlag(false); + setTargetPosZ(estimator_->getState(State::Z_COG, estimate_mode_)[0]); + setNaviState(HOVER_STATE); + } + } + + /* back to landing process */ + if(landing_flag_) + { + const auto joint_state = robot_model_->kdlJointToMsg(robot_model_->getJointPositions()); + bool already_level = true; + int joint_num = joint_state.position.size(); + for(int i = 0; i < joint_num; i++) + { + std::string name = joint_state.name.at(i); + if(joint_state.name[i].find("joint") != std::string::npos + && joint_state.name[i].find("pitch") != std::string::npos) + { + double target_cmd = 0; + int j = atoi(name.substr(5,1).c_str()) - 1; // start from 0 + + if (j % 2 == 0) + { + target_cmd = inside_land_pitch_angle_; + } + else + { + target_cmd = outside_land_pitch_angle_; + } + + + if(fabs(joint_state.position[i] - target_cmd) > 0.085) already_level = false; + } + } + + if(curr_target_baselink_rot_.length()) already_level = false; + + if(already_level && getNaviState() == HOVER_STATE) + { + ROS_WARN("gimbal control: back to land state"); + setNaviState(LAND_STATE); + setTargetPosZ(estimator_->getLandingHeight()); + setTeleopFlag(true); + } + } +} + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(aerial_robot_navigation::Spider::FlightNavigator, aerial_robot_navigation::BaseNavigator); diff --git a/robots/spidar/src/navigation/walk_navigation.cpp b/robots/spidar/src/navigation/walk_navigation.cpp new file mode 100644 index 000000000..6628478a0 --- /dev/null +++ b/robots/spidar/src/navigation/walk_navigation.cpp @@ -0,0 +1,1129 @@ +#include +#include + +using namespace aerial_robot_model; +using namespace aerial_robot_navigation::Spider; + +WalkNavigator::WalkNavigator(): + BaseNavigator(), + joint_index_map_(0), + target_baselink_pos_(0,0,0), + target_baselink_vel_(0,0,0), + target_baselink_rpy_(0,0,0), + target_leg_ends_(0), + target_link_rots_(0), + reset_baselink_flag_(false), + reset_leg_ends_flag_(false), + free_leg_id_(-1), + raise_leg_flag_(false), + lower_leg_flag_(false), + raise_converge_(false), + walk_flag_(false), + walk_leg_id_(-1), + leg_motion_phase_(WalkPattern::PHASE0) +{ +} + +void WalkNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp, + boost::shared_ptr robot_model, + boost::shared_ptr estimator) +{ + /* initialize the flight control */ + BaseNavigator::initialize(nh, nhp, robot_model, estimator); + + spidar_robot_model_ = boost::dynamic_pointer_cast<::Spider::GroundRobotModel>(robot_model); + robot_model_for_nav_ = boost::make_shared(); + + + target_baselink_pos_sub_ = nh_.subscribe("walk/baselink/traget/pos", 1, &WalkNavigator::targetBaselinkPosCallback, this); + target_baselink_delta_pos_sub_ = nh_.subscribe("walk/baselink/traget/delta_pos", 1, &WalkNavigator::targetBaselinkDeltaPosCallback, this); + + raise_leg_sub_ = nh_.subscribe("walk/raise_leg", 1, &WalkNavigator::raiseLegCallback, this); + lower_leg_sub_ = nh_.subscribe("walk/lower_leg", 1, &WalkNavigator::lowerLegCallback, this); + walk_sub_ = nh_.subscribe("walk/enable", 1, &WalkNavigator::walkCallback, this); + + target_joint_angles_pub_ = nh_.advertise("debug/nav/target_joint_angles", 1); // for debug + target_leg_ends_pub_ = nh_.advertise("debug/nav/target_leg_ends", 1); // for debug + + if(walk_simulation_) { + simulate_baselink_pose_pub_ = nh_.advertise("ground_truth", 1); + simulate_joint_angles_pub_ = nh_.advertise("joint_states", 1); + simulate_flight_config_sub_ = nh_.subscribe("flight_config_cmd", 1, &WalkNavigator::simulateFlightConfigCallback, this); + simulate_flight_config_pub_ = nh_.advertise("flight_config_ack", 1); + + simulated_joint_state_.position.resize(0); + simulated_joint_state_.name.resize(0); + + XmlRpc::XmlRpcValue params; + nh_.getParam("zeros", params); + for(auto param: params) { + // ROS_INFO_STREAM(param.first << ": " << param.second); + simulated_joint_state_.name.push_back(param.first); + simulated_joint_state_.position.push_back(param.second); + } + sensor_msgs::JointState joint_msg = simulated_joint_state_; + joint_msg.header.stamp = ros::Time::now(); + for(int i = 0; i < spidar_robot_model_->getRotorNum(); i++) { + joint_msg.name.push_back(std::string("gimbal") + std::to_string(i+1) + std::string("_roll")); + joint_msg.name.push_back(std::string("gimbal") + std::to_string(i+1) + std::string("_pitch")); + joint_msg.position.push_back(0); + joint_msg.position.push_back(0); + } + simulate_joint_angles_pub_.publish(joint_msg); + } +} + +void WalkNavigator::walkPattern() +{ + /* + simple walking pattern: + - Straight line walk along x axis. + - Every leg move along x axis with `walk_stride` at each step. + - Leg will raise (raise inner joint pitch angle), and also move joint yaw angle at the same time. + - Center link also move with `walk_stride`/`leg_num` at each step. + - A circle means all leg finish move one time + */ + + if (!walk_flag_) { + return; + } + + switch(leg_motion_phase_) { + case WalkPattern::PHASE0: + { + // all legs contact to the ground + std::string prefix("[Spider][Walk][Phase0]"); + + // start raise leg mode for this leg + raiseLeg(walk_leg_id_); + if (walk_leg_id_ == 0 || walk_leg_id_ == 3) { + // workaround: set larget raise angle for front legs + raise_angle_ = raise_angle_orig_ * front_leg_raise_ratio_; + } + + // update the foot postion, and thus the joint angles + target_leg_ends_.at(walk_leg_id_).p += KDL::Vector(walk_stride_, 0, 0); // along x axis + + // reset the timestamp to check joint convergence + converge_timestamp_ = ros::Time::now().toSec(); + + // shift to PHASE1 + ROS_INFO_STREAM(prefix << " shift from PHASE0 to PHASE1 for leg" << walk_leg_id_ + 1); + leg_motion_phase_ = WalkPattern::PHASE1; + + break; + } + case WalkPattern::PHASE1: + { + // free leg is raising + std::string prefix("[Spider][Walk][Phase1]"); + + // check the pitch joint of free leg to lower leg + int j = 4 * walk_leg_id_; + if (!raise_converge_) { + // NOTE: do not need to consider the convernge of this joint + // converge_timestamp_ = ros::Time::now().toSec(); + + ROS_INFO_STREAM_THROTTLE(0.1, prefix << " the angle error of joint" << j/2 + 1 << "_pitch does not converge"); + break; + } + + // check the inside yaw joint of free leg to lower leg + double target_angle = target_joint_state_.position.at(j); + double current_angle = getCurrentJointAngles().at(j); + double err = target_angle - current_angle; + if (fabs(err) > move_leg_joint_err_thresh_ ) { + // joint angle error too big + + ROS_INFO_STREAM_THROTTLE(0.1, prefix << " the angle error of joint" << j/2 + 1 << "_yaw does not converge, " << err << "(" << move_leg_joint_err_thresh_ << ")"); + + // reset the timestamp to check joint convergence + converge_timestamp_ = ros::Time::now().toSec(); + + break; + } + + // check the outside pitch joint of free leg to lower leg + target_angle = target_joint_state_.position.at(j + 3); + current_angle = getCurrentJointAngles().at(j + 3); + err = target_angle - current_angle; + //ROS_INFO_STREAM(prefix << " joint" << j/2 + 2 << "_pitch, target angle: " << target_angle << "; current angle: " << current_angle); + if (fabs(err) > move_leg_joint_err_thresh_ ) { + // joint angle error too big + + ROS_INFO_STREAM_THROTTLE(0.1, prefix << " the angle error of joint" << j/2 + 2 << "_pitch does not converge, " << err << "(" << move_leg_joint_err_thresh_ << ")"); + + // reset the timestamp to check joint convergence + converge_timestamp_ = ros::Time::now().toSec(); + + break; + } + + // double t = ros::Time::now().toSec() - converge_timestamp_; + // if (t < walk_pattern_converge_du_) { + // // no reach enough convergence time + // ROS_INFO_STREAM_THROTTLE(0.1, prefix << " not reach enough convergence time for joint, start from " << converge_timestamp_ << ", last " << t); + // break; + // } + + // reach the target joint yaw to lower leg + raise_angle_ = raise_angle_orig_; + lowerLeg(); + + // reset the timestamp to check joint convergence + converge_timestamp_ = ros::Time::now().toSec(); + + // shift to PHASE2 + ROS_INFO_STREAM(prefix << " shift from PHASE1 to PHASE2 for leg" << walk_leg_id_ + 1); + leg_motion_phase_ = WalkPattern::PHASE2; + + break; + } + case WalkPattern::PHASE2: + { + // free leg is lowering + std::string prefix("[Spider][Walk][Phase2]"); + + if (lower_leg_flag_) { + // still in lowering phase, skip + ROS_INFO_STREAM_THROTTLE(0.1, prefix << " still in lowering phase, skip"); + + break; + } + + if (walk_controller_->getContactTransition()) { + // still in contact transition, skip + ROS_INFO_STREAM_THROTTLE(0.1, prefix << " finish lowering, but still in ground contact transition, skip"); + + break; + } + + if (walk_debug_) { + if (walk_debug_legs_ == 0) { + // only test single leg raise & lower + + // shift to PHASE0 + ROS_INFO_STREAM(prefix << " debug mode, finish walk"); + walk_flag_ = false; + break; + } + } + + // move center link + walk_move_baselink_ = false; + if (walk_leg_id_ == 3) { + // WIP: the leg selection. + // move baselink only after leg4 (all front legs are updated) + // WIP: forward move + double distance = walk_stride_; + target_baselink_pos_ += tf::Vector3(distance, 0, 0); + walk_move_baselink_ = true; + } + + // shift to PHASE3 + ROS_INFO_STREAM(prefix << " shift from PHASE2 to PHASE3 for leg" << walk_leg_id_ + 1); + leg_motion_phase_ = WalkPattern::PHASE3; + + break; + } + case WalkPattern::PHASE3: + { + // baselink is move + std::string prefix("[Spider][Walk][Phase3]"); + + if (walk_move_baselink_) { + + // move center link + tf::Vector3 baselink_pos = estimator_->getPos(Frame::BASELINK, estimate_mode_); + double err = target_baselink_pos_.x() - baselink_pos.x(); + + if (fabs(err) > baselink_converge_thresh_) { + // no reach enough convergence position + ROS_INFO_STREAM_THROTTLE(0.1, prefix << " no reach enough convergence position, target x: " << target_baselink_pos_.x() << ", current x: " << baselink_pos.x() << ", converge thresh: " << baselink_converge_thresh_); + + // reset the timestamp to check baselink convergence + converge_timestamp_ = ros::Time::now().toSec(); + + break; + } + + double t = ros::Time::now().toSec() - converge_timestamp_; + if (t < walk_pattern_converge_du_) { + // no reach enough convergence time + ROS_INFO_STREAM_THROTTLE(0.1, prefix << " not reach enough convergence time for baselink move, start from" << converge_timestamp_ << ", last " << t); + break; + } + } + + ROS_INFO_STREAM(prefix << " finish move of leg" << walk_leg_id_ + 1 << " in walk cycle of " << walk_cycle_cnt_); + + // reset the target leg ends to further update the target joint angles + if (walk_cycle_reset_leg_end_) { + reset_leg_ends_flag_ = true; + } + + // reset the target baselink to further update the target joint angles + if (walk_cycle_reset_baselink_) { + reset_baselink_flag_ = true; + } + + // instant update to the target joint angle + if (walk_simulation_) { + spidar_robot_model_->updateRobotModel(target_joint_state_); + + for(int i = 0; i < simulated_joint_state_.position.size(); i++) { + std::string name = simulated_joint_state_.name.at(i); + auto res = std::find(target_joint_state_.name.begin(), target_joint_state_.name.end(), name); + int j = std::distance(target_joint_state_.name.begin(), res); + simulated_joint_state_.position.at(i) = target_joint_state_.position.at(j); + } + } + + // move next leg with following rule: + // front-left (0) -> front-right (3) -> back-right (2) -> back-left (1) + + if (walk_debug_) { + if ((walk_debug_legs_ == 1 && walk_leg_id_ == 0) || + (walk_debug_legs_ == 2 && walk_leg_id_ == 3) || + (walk_debug_legs_ == 3 && walk_leg_id_ == 2) || + (walk_debug_legs_ == 4 && walk_leg_id_ == 1)) { + ROS_INFO_STREAM(prefix << " debug mode, finish walk"); + walk_flag_ = false; + break; + } + } + + walk_leg_id_ --; + if (walk_leg_id_ < 0) walk_leg_id_ += 4; + + // check whether finish one cycle + if (walk_leg_id_ == 0) { + walk_cycle_cnt_ ++; + } + if (walk_cycle_cnt_ == walk_total_cycle_) { + ROS_INFO_STREAM(prefix << " finish walk with totla cycle of " << walk_total_cycle_); + walk_flag_ = false; + } + + leg_motion_phase_ = WalkPattern::PHASE0; // back to Phase0 to move next leg. + + break; + } + default: + break; + } +} + +void WalkNavigator::resetWalkPattern() +{ + walk_leg_id_ = 0; + walk_cycle_cnt_ = 0; + leg_motion_phase_ = WalkPattern::PHASE0; +} + +void WalkNavigator::update() +{ + if (getNaviState() == aerial_robot_navigation::START_STATE) { + if(estimator_->getUnhealthLevel() == Sensor::UNHEALTH_LEVEL3){ + ROS_WARN("Sensor Unhealth, cannot arming"); + setNaviState(ARM_OFF_STATE); + return; + } + } + + BaseNavigator::update(); + + // skip before the model initialization + if (spidar_robot_model_->getMass() == 0) { + return; + } + + walkPattern(); + + // TODO: add new states for walk/stand. + // e.g., idle stand state, joint move state, fee joint end state + + tf::Vector3 baselink_pos = estimator_->getPos(Frame::BASELINK, estimate_mode_); + tf::Vector3 baselink_vel = estimator_->getVel(Frame::BASELINK, estimate_mode_); + tf::Vector3 baselink_rpy = estimator_->getEuler(Frame::BASELINK, estimate_mode_); + + // target joint angles + if (target_joint_state_.name.size() == 0) { + + // initialize the target joint + target_joint_state_.name = spidar_robot_model_->getLinkJointNames(); + target_joint_state_.position.resize(target_joint_state_.name.size()); + + // set (initialize) joint index map + setJointIndexMap(); + + // set target joint angles + target_joint_state_.position = getCurrentJointAngles(); + } + + auto current_joint_angles = getCurrentJointAngles(); + + // target link rotation + if (target_link_rots_.size() == 0) { + target_link_rots_.resize(spidar_robot_model_->getRotorNum()); + } + + // get current leg position w.r.t. world frame + const auto& seg_tf_map = spidar_robot_model_->getSegmentsTf(); + if(seg_tf_map.size() == 0) return; + tf::Transform tf_w_baselink(estimator_->getOrientation(Frame::BASELINK, estimate_mode_), baselink_pos); + KDL::Frame fw_baselink; + tf::transformTFToKDL(tf_w_baselink, fw_baselink); + + std::vector curr_leg_ends; + const int leg_num = spidar_robot_model_->getRotorNum() / 2; + KDL::Frame fr_baselink = seg_tf_map.at(spidar_robot_model_->getBaselinkName()); + for (int i = 0; i < leg_num; i++) { + std::string frame_name = std::string("link") + std::to_string(2 * (i + 1)) + std::string("_foot"); + KDL::Frame fr_end = seg_tf_map.at(frame_name); // w.r.t. root link + KDL::Frame fb_end = fr_baselink.Inverse() * fr_end; // w.r.t. baselink + KDL::Frame fw_end = fw_baselink * fb_end; // w.r.t. world frame + curr_leg_ends.push_back(fw_end); + } + + // initialize targets + if (target_leg_ends_.size() == 0) { + reset_baselink_flag_ = true; + reset_leg_ends_flag_ = true; + } + + // reset targets + if (getNaviState() == aerial_robot_navigation::START_STATE) { + ROS_INFO("[Walk][Navigator] set initial position and joint angles as target ones"); + + reset_baselink_flag_ = true; + reset_leg_ends_flag_ = true; + } + + // update target baselink pose + if (reset_baselink_flag_) { + resetTargetBaselink(baselink_pos, baselink_rpy); + reset_baselink_flag_ = false; + } + + // update target leg end frame (position) + if (reset_leg_ends_flag_) { + resetTargetLegEnds(curr_leg_ends); + reset_leg_ends_flag_ = false; + } + + + // calculate the target joint angles from baselink and end position + KDL::Frame fw_target_baselink; + fw_target_baselink.M + = KDL::Rotation::EulerZYX(target_baselink_rpy_.z(), + target_baselink_rpy_.y(), + target_baselink_rpy_.x()); + tf::vectorTFToKDL(target_baselink_pos_, fw_target_baselink.p); + + double l0 = -1; // distance from "joint_junction_linkx" to "linkx" + double l1 = -1; // distance from "linkx" to "linkx+1" + double l2 = -1; // distance from "linkx+1" to "linkx+1_foot" + + const auto& names = target_joint_state_.name; + auto& target_angles = target_joint_state_.position; + std::stringstream ss; + + for (int i = 0; i < leg_num; i++) { + std::string yaw_frame_name = std::string("joint_junction_link") + std::to_string(2 * i + 1); + KDL::Frame fr_joint_yaw = seg_tf_map.at(yaw_frame_name); // w.r.t. root link + fr_joint_yaw.M = KDL::Rotation::EulerZYX(M_PI/ 4 + M_PI/2 * i, 0, 0); // workaround: get the orientation of the parent frame + KDL::Frame fb_joint_yaw = fr_baselink.Inverse() * fr_joint_yaw; // w.r.t. baselink + KDL::Frame fw_joint_yaw = fw_target_baselink * fb_joint_yaw; // w.r.t. world frame + + KDL::Frame fw_end = target_leg_ends_.at(i); + KDL::Frame fy_end = fw_joint_yaw.Inverse() * fw_end; // w.r.t. yaw (yaw1) frame. + KDL::Vector p = fy_end.p; + // if (i == 0) + // ROS_ERROR_STREAM_THROTTLE(1.0, "fw_end pos: " << aerial_robot_model::kdlToEigen(p).transpose()); + + double angle = atan2(p.y(), p.x()); + + std::string pitch1_frame_name = std::string("link") + std::to_string(2 * i + 1); + std::string pitch2_frame_name = std::string("link") + std::to_string(2 * (i + 1)); + std::string end_frame_name = std::string("link") + std::to_string(2 * (i + 1)) + std::string("_foot"); + + if(l0 < 0) { + KDL::Frame fr_joint_pitch1 = seg_tf_map.at(pitch1_frame_name); + KDL::Frame fr_joint_pitch2 = seg_tf_map.at(pitch2_frame_name); + KDL::Frame fr_end = seg_tf_map.at(end_frame_name); + + l0 = (fr_joint_pitch1.p - fr_joint_yaw.p).Norm(); + l1 = (fr_joint_pitch2.p - fr_joint_pitch1.p).Norm(); + l2 = (fr_end.p - fr_joint_pitch2.p).Norm(); + } + + // TODO: hard-coding for the kinemtaics from "joint_junction_linkx" to "linkx" + KDL::Frame frame_delta1(KDL::Rotation::EulerZYX(angle, 0, 0), KDL::Vector::Zero()); + KDL::Frame frame_delta2(KDL::Rotation::Identity(), KDL::Vector(l0, 0, 0)); + KDL::Frame fr_joint_pitch1 = fr_joint_yaw * frame_delta1 * frame_delta2; + // if (i == 0) + // ROS_ERROR_STREAM_THROTTLE(1.0, "l0: " << l0 << "; fr_joint_pitch1: " << aerial_robot_model::kdlToEigen(fr_joint_pitch1.p).transpose() << "; fr_joint_yaw: " << aerial_robot_model::kdlToEigen(fr_joint_yaw.p).transpose()); + KDL::Frame fb_joint_pitch1 = fr_baselink.Inverse() * fr_joint_pitch1; // w.r.t. baselink + KDL::Frame fw_joint_pitch1 = fw_target_baselink * fb_joint_pitch1; // w.r.t. world frame + + KDL::Frame fp1_end = fw_joint_pitch1.Inverse() * fw_end; // w.r.t. pitch1 frame + double x_e = fp1_end.p.x(); + double y_e = - fp1_end.p.z(); // w.r.t pitch1 frame + double b = l1 * l1 - x_e * x_e - y_e * y_e - l2 * l2; + double b_d = b / (- 2 * l2); + double d = sqrt(x_e * x_e + y_e * y_e); + double b_dd = b_d / d; + if (fabs(b_dd) > 1) { + ROS_ERROR_STREAM("[Spider][Navigator] leg " << i + 1 << ": b_dd exceeds the valid scope: " << b_dd + << "; end pos: " << aerial_robot_model::kdlToEigen(fw_end.p).transpose() + << "; baselink pos: " << aerial_robot_model::kdlToEigen(fw_target_baselink.p).transpose()); + continue; + } + + double phi = atan2(y_e, x_e); + double theta2_d = acos(b_dd) + phi; + if (theta2_d < 0) { + theta2_d = - acos(b_dd) + phi; + } + double theta1 = atan2(y_e - l2 * sin(theta2_d), x_e - l2 * cos(theta2_d)); + double theta2 = theta2_d - theta1; + + // check validity + double angle_limit = 1.65; + if(fabs(angle) > angle_limit ) { + ROS_ERROR_STREAM("[Spider][Navigator] joint" << i * 2 + 1 << "_yaw exceeds the valid range, angle is " << angle); + continue; + } + + if(fabs(theta1) > angle_limit ) { + ROS_ERROR_STREAM("[Spider][Navigator] joint" << i * 2 + 1 << "_pitch exceeds the valid range, angle is " << theta1); + continue; + } + + if(fabs(theta2) > angle_limit) { + ROS_ERROR_STREAM("[Spider][Navigator] joint" << i * 2 + 2 << "_pitch exceeds the valid range, angle is " << theta2); + continue; + } + + + // set the target joint angles + if(names.at(4 * i) != std::string("joint") + std::to_string(2*i+1) + std::string("_yaw")) { + ROS_ERROR_STREAM("[Spider][Navigator] name order is different. ID" << i << " name is " << names.at(4 * i)); + continue; + } + + // special process for raising leg + if (i == free_leg_id_) { + + double current_angle = current_joint_angles.at(4 * i + 1); + + // raise leg + if (raise_leg_flag_) { + theta1 -= raise_angle_; + + if (current_angle - theta1 < raise_converge_thresh_) { + + if (!raise_converge_) { + ROS_WARN_STREAM("[Spider] leg" << i + 1 << " reach the raise goal, joint" << i * 2 +1 << "_pitch" << ", curr angle: " << current_angle << "; target angle: " << theta1 << ", raise_converge_threshold: " << raise_converge_thresh_); + } + + raise_converge_ = true; + } + } + + // lower leg + if (lower_leg_flag_) { + + bool contact = false; + double t = ros::Time::now().toSec(); + static double start_t = t; + static double prev_t = t; + static double prev_v = current_angle; + + if (t - prev_t > check_interval_) { + // touch detection by + // - small delta angle around the touch-down target angle + // - constant angle for a while + if (theta1 - current_angle < lower_touchdown_thresh_ && + fabs(current_angle - prev_v) < constant_angle_thresh_) { + if (t - start_t > converge_time_thresh_) { + contact = true; + } + } + else { + start_t = t; + } + + prev_v = current_angle; + prev_t = t; + } + + if (contact) { + ROS_WARN_STREAM("[Spider][Walk][Navigator] leg" << i + 1 << " touches the ground, joint" << i * 2 +1 << "_pitch" << ", curr angle: " << current_angle << "; target angle: " << theta1); + contactLeg(); + } + } + } + + target_angles.at(4 * i) = angle; + target_angles.at(4 * i + 1) = theta1; + target_angles.at(4 * i + 3) = theta2; + + ss << "(" << target_angles.at(4 * i) << ", " << target_angles.at(4 * i + 1) << ", " + << target_angles.at(4 * i + 2) << ", " << target_angles.at(4 * i + 3) << ") "; + } + ROS_DEBUG_STREAM_THROTTLE(1.0, "[Spider][Walk][Navigator] analytical joint angles from leg end and baselink: " << ss.str()); + + // get the target link orientation + auto joint_state = spidar_robot_model_->getGimbalProcessedJoint(); + for(int i = 0; i < joint_index_map_.size(); i++) { + auto id = joint_index_map_.at(i); + joint_state.position.at(id) = target_angles.at(i); + } + + robot_model_for_nav_->updateRobotModel(joint_state); + const auto& target_seg_tf_map = robot_model_for_nav_->getSegmentsTf(); + for(int i = 0; i < spidar_robot_model_->getRotorNum(); i++) { + std::string link_name = std::string("link") + std::to_string(i+1); + KDL::Frame fr_target_link = target_seg_tf_map.at(link_name); + KDL::Frame fb_target_link = fr_baselink.Inverse() * fr_target_link; + KDL::Frame fw_target_link = fw_target_baselink * fb_target_link; + target_link_rots_.at(i) = fw_target_link.M; + } + + failSafeAction(); + + // publish for debug + std_msgs::Float32MultiArray msg; + for(int i = 0; i < target_angles.size(); i++) { + msg.data.push_back(target_angles.at(i)); + } + target_joint_angles_pub_.publish(msg); + + geometry_msgs::PoseArray poses_msg; + poses_msg.header.stamp = ros::Time::now(); + for(const auto& f: target_leg_ends_) { + geometry_msgs::Pose pose; + tf::poseKDLToMsg(f, pose); + poses_msg.poses.push_back(pose); + } + target_leg_ends_pub_.publish(poses_msg); + + // simulate walk pattern + if(walk_simulation_) { + simulate(); + } + + // ROS_INFO_THROTTLE(0.1, "leg1 pos: (%f, %f, %f), leg2 pos: (%f, %f, %f), leg3 pos: (%f, %f, %f), leg4 pos: (%f, %f, %f)", + // target_leg_ends_.at(0).p.x(), target_leg_ends_.at(0).p.y(), target_leg_ends_.at(0).p.z(), + // target_leg_ends_.at(1).p.x(), target_leg_ends_.at(1).p.y(), target_leg_ends_.at(1).p.z(), + // target_leg_ends_.at(2).p.x(), target_leg_ends_.at(2).p.y(), target_leg_ends_.at(2).p.z(), + // target_leg_ends_.at(3).p.x(), target_leg_ends_.at(3).p.y(), target_leg_ends_.at(3).p.z()); +} + +void WalkNavigator::simulate() +{ + // init baselink + if (target_leg_ends_.at(0).p.z() < 0) { + // set the link end conntacting the ground + double z_offset = - target_leg_ends_.at(0).p.z(); + + for (auto& f: target_leg_ends_) { + f.p += KDL::Vector(0, 0, z_offset); + } + target_baselink_pos_ += tf::Vector3(0, 0, z_offset); + } + + // baselink odometry + nav_msgs::Odometry odom_msg; + tf::pointTFToMsg(target_baselink_pos_, odom_msg.pose.pose.position); + odom_msg.pose.pose.orientation + = tf::createQuaternionMsgFromRollPitchYaw(target_baselink_rpy_.x(), + target_baselink_rpy_.y(), + target_baselink_rpy_.z()); + simulate_baselink_pose_pub_.publish(odom_msg); + + // joint states + double r = simulated_joint_lpf_rate_; + for(int i = 0; i < simulated_joint_state_.position.size(); i++) { + std::string name = simulated_joint_state_.name.at(i); + auto res = std::find(target_joint_state_.name.begin(), target_joint_state_.name.end(), name); + int j = std::distance(target_joint_state_.name.begin(), res); + double angle = target_joint_state_.position.at(j); + simulated_joint_state_.position.at(i) = + (1 - r) * simulated_joint_state_.position.at(i) + r * angle; + } + sensor_msgs::JointState joint_msg = simulated_joint_state_; + joint_msg.header.stamp = ros::Time::now(); + for(int i = 0; i < spidar_robot_model_->getRotorNum(); i++) { + joint_msg.name.push_back(std::string("gimbal") + std::to_string(i+1) + std::string("_roll")); + joint_msg.name.push_back(std::string("gimbal") + std::to_string(i+1) + std::string("_pitch")); + joint_msg.position.push_back(0); + joint_msg.position.push_back(0); + } + + simulate_joint_angles_pub_.publish(joint_msg); +} + +void WalkNavigator::failSafeAction() +{ + // baselink rotation + tf::Matrix3x3 rot = estimator_->getOrientation(Frame::BASELINK, estimate_mode_); + tf::Vector3 zb = rot * tf::Vector3(0,0,1); + double theta = atan2(sqrt(zb.x() * zb.x() + zb.y() * zb.y()), zb.z()); + + if (theta > baselink_rot_thresh_){ + ROS_WARN_STREAM("[Spider][Walk][Navigation] baselink rotation is abnormal, tool tiled: " << theta); + + if (raise_leg_flag_) { + lowerLeg(); + ROS_WARN_STREAM("[Spider][Walk][Navigation] instantly lower the raised leg" << free_leg_id_ + 1); + } + } + + // pitch joint of opposite of raise leg + if (raise_leg_flag_) { + int leg_num = spidar_robot_model_->getRotorNum() / 2; + int leg_id = (free_leg_id_ + leg_num / 2) % leg_num; + int j = 4 * leg_id + 1; + double target_angle = target_joint_state_.position.at(j); + double current_angle = getCurrentJointAngles().at(j); + std::string name = target_joint_state_.name.at(j); + + //ROS_INFO_STREAM("[Spider][Walk][Navigation] " << name << ", target angle " << target_angle << ", current angle: " << current_angle); + if (target_angle - current_angle > opposite_raise_leg_thresh_) { + ROS_WARN_STREAM("[Spider][Walk][Navigation] " << name << " is overload because of raising leg, target angle " << target_angle << ", current angle: " << current_angle); + ROS_WARN_STREAM("[Spider][Walk][Navigation] instantly lower the raising leg" << free_leg_id_ + 1); + lowerLeg(); + } + } +} + +void WalkNavigator::resetTargetBaselink(tf::Vector3 pos, tf::Vector3 rpy) +{ + target_baselink_pos_ = pos; + target_baselink_rpy_ = rpy; +} + +void WalkNavigator::resetTargetLegEnds(std::vector frames) +{ + target_leg_ends_ = frames; +} + + +void WalkNavigator::setJointIndexMap() +{ + const auto joint_state = spidar_robot_model_->getGimbalProcessedJoint(); + const auto& search_v = joint_state.name; + + joint_index_map_.resize(0); // resize + const auto& joint_names = target_joint_state_.name; + for(const auto& n: joint_names) { + + auto res = std::find(search_v.begin(), search_v.end(), n); + + if (res == search_v.end()) { + ROS_ERROR_STREAM("[Spider][Navigator] joint index mapping, cannot find " << n); + continue; + } + + auto id = std::distance(search_v.begin(), res); + + joint_index_map_.push_back(id); + } +} + +std::vector WalkNavigator::getCurrentJointAngles() +{ + const auto joint_state = spidar_robot_model_->getGimbalProcessedJoint(); + std::vector angles(0); + for(const auto id: joint_index_map_) { + angles.push_back(joint_state.position.at(id)); + } + + return angles; +} + + +void WalkNavigator::halt() +{ + ros::ServiceClient client = nh_.serviceClient("joints/torque_enable"); + std_srvs::SetBool srv; + srv.request.data = false; + if (client.call(srv)) + ROS_INFO("dragon control halt process: disable the joint torque"); + else + ROS_ERROR("Failed to call service joints/torque_enable"); + + client = nh_.serviceClient("gimbals/torque_enable"); + + srv.request.data = false; + if (client.call(srv)) + ROS_INFO("dragon control halt process: disable the gimbal torque"); + else + ROS_ERROR("Failed to call service gimbals/torque_enable"); +} + + +void WalkNavigator::raiseLeg(int leg_id) +{ + free_leg_id_ = leg_id; + + raise_leg_flag_ = true; + raise_converge_ = false; + lower_leg_flag_ = false; + + spidar_robot_model_->setFreeleg(free_leg_id_); + walk_controller_->startRaiseTransition(); +} + +void WalkNavigator::lowerLeg() +{ + lower_leg_flag_ = true; + raise_leg_flag_ = false; + raise_converge_ = false; + walk_controller_->startLowerLeg(); +} + +void WalkNavigator::contactLeg() +{ + lower_leg_flag_ = false; + raise_leg_flag_ = false; + raise_converge_ = false; + spidar_robot_model_->resetFreeleg(); + walk_controller_->startContactTransition(free_leg_id_); + free_leg_id_ = -1; +} + +void WalkNavigator::rosParamInit() +{ + BaseNavigator::rosParamInit(); + + + ros::NodeHandle nh_walk(nh_, "navigation/walk"); + getParam(nh_walk, "raise_angle", raise_angle_, 0.2); + raise_angle_orig_ = raise_angle_; + getParam(nh_walk, "lower_touchdown_thresh", lower_touchdown_thresh_, 0.05); + getParam(nh_walk, "raise_converge_thresh", raise_converge_thresh_, 0.05); + getParam(nh_walk, "constant_angle_thresh", constant_angle_thresh_, 0.02); + getParam(nh_walk, "check_interval", check_interval_, 0.1); + getParam(nh_walk, "converge_time_thresh", converge_time_thresh_, 0.5); + getParam(nh_walk, "simulation", walk_simulation_, false); + getParam(nh_walk, "simulated_joint_lpf_rate", simulated_joint_lpf_rate_, 0.5); + + ros::NodeHandle nh_walk_pattern(nh_walk, "pattern"); + getParam(nh_walk_pattern, "total_cycle", walk_total_cycle_, 1); + getParam(nh_walk_pattern, "stride", walk_stride_, 0.2); + getParam(nh_walk_pattern, "move_leg_joint_err_thresh", move_leg_joint_err_thresh_, 0.05); + getParam(nh_walk_pattern, "baselink_converge_thresh", baselink_converge_thresh_, 0.05); + getParam(nh_walk_pattern, "front_leg_raise_ratio", front_leg_raise_ratio_, 1.0); + getParam(nh_walk_pattern, "converge_du", walk_pattern_converge_du_, 0.5); + getParam(nh_walk_pattern, "reset_leg_end", walk_cycle_reset_leg_end_, true); + getParam(nh_walk_pattern, "reset_baselink", walk_cycle_reset_baselink_, false); + getParam(nh_walk_pattern, "debug", walk_debug_, false); + getParam(nh_walk_pattern, "debug_legs", walk_debug_legs_, 0); + + ros::NodeHandle nh_failsafe(nh_walk, "failsafe"); + getParam(nh_failsafe, "baselink_rot_thresh", baselink_rot_thresh_, 0.2); + getParam(nh_failsafe, "opposite_raise_leg_thresh", opposite_raise_leg_thresh_, 0.1); + + + if (walk_simulation_) { + // WIP: reset the servo angle bias for simulation + ros::NodeHandle nh_control(nh_, "controller/walk"); + nh_control.setParam("servo_angle_bias", 0); + } + +} + +void WalkNavigator::targetBaselinkPosCallback(const geometry_msgs::Vector3StampedConstPtr& msg) +{ + tf::vector3MsgToTF(msg->vector, target_baselink_pos_); +} + +void WalkNavigator::targetBaselinkDeltaPosCallback(const geometry_msgs::Vector3StampedConstPtr& msg) +{ + tf::Vector3 delta_pos; + tf::vector3MsgToTF(msg->vector, delta_pos); + target_baselink_pos_ += delta_pos; + + ROS_ERROR("get new target baselink"); +} + +void WalkNavigator::raiseLegCallback(const std_msgs::UInt8ConstPtr& msg) +{ + raiseLeg(msg->data); +} + +void WalkNavigator::lowerLegCallback(const std_msgs::EmptyConstPtr& msg) +{ + lowerLeg(); +} + +void WalkNavigator::walkCallback(const std_msgs::BoolConstPtr& msg) +{ + resetWalkPattern(); + walk_flag_ = msg->data; + + if (!walk_flag_) { + // abort process here + + if (raise_leg_flag_) { + ROS_WARN_STREAM("[Spider][Walk][Navigation] instantly lower the raised leg" << free_leg_id_ + 1 << " during the walk pattern"); + lowerLeg(); + } + } +} + +void WalkNavigator::simulateFlightConfigCallback(const spinal::FlightConfigCmdConstPtr& msg) +{ + std_msgs::UInt8 ack_msg; + switch(msg->cmd) + { + case spinal::FlightConfigCmd::ARM_ON_CMD: + ack_msg.data = spinal::FlightConfigCmd::ARM_ON_CMD; + simulate_flight_config_pub_.publish(ack_msg); + break; + case spinal::FlightConfigCmd::ARM_OFF_CMD: + ack_msg.data = spinal::FlightConfigCmd::ARM_OFF_CMD; + simulate_flight_config_pub_.publish(ack_msg); + break; + case spinal::FlightConfigCmd::FORCE_LANDING_CMD: + ack_msg.data = spinal::FlightConfigCmd::FORCE_LANDING_CMD; + simulate_flight_config_pub_.publish(ack_msg); + break; + default: + break; + } +} + +void WalkNavigator::joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg) +{ + sensor_msgs::Joy joy_cmd; + if(joy_msg->axes.size() == PS3_AXES && joy_msg->buttons.size() == PS3_BUTTONS) { + joy_cmd = (*joy_msg); + } + else if(joy_msg->axes.size() == PS4_AXES && joy_msg->buttons.size() == PS4_BUTTONS) { + joy_cmd = ps4joyToPs3joyConvert(*joy_msg); + } + else { + ROS_WARN("the joystick type is not supported (buttons: %d, axes: %d)", (int)joy_msg->buttons.size(), (int)joy_msg->axes.size()); + return; + } + + static sensor_msgs::Joy prev_joy_cmd = joy_cmd; + + if(joy_cmd.buttons[PS3_BUTTON_REAR_RIGHT_2] == 1) { + /* all joint servo */ + if (joy_cmd.buttons[PS3_BUTTON_ACTION_TRIANGLE] == 1) { + if (prev_joy_cmd.buttons[PS3_BUTTON_ACTION_TRIANGLE] == 1) { + prev_joy_cmd = joy_cmd; + return; + } + + /* servo on */ + ros::ServiceClient client = nh_.serviceClient("joints/torque_enable"); + std_srvs::SetBool srv; + srv.request.data = true; + + if (client.call(srv)) + ROS_INFO("[Spider][Joy] enable alll joint torque"); + else + ROS_ERROR("Failed to call service joints/torque_enable"); + + client = nh_.serviceClient("gimbals/torque_enable"); + + if (client.call(srv)) + ROS_INFO("[Spider][Joy] enable alll gimbal torque"); + else + ROS_ERROR("Failed to call service gimbals/torque_enable"); + + prev_joy_cmd = joy_cmd; + return; + + } + + if (joy_cmd.buttons[PS3_BUTTON_ACTION_CROSS] == 1) { + if (prev_joy_cmd.buttons[PS3_BUTTON_ACTION_CROSS] == 1) { + prev_joy_cmd = joy_cmd; + return; + } + + /* servo off */ + ros::ServiceClient client = nh_.serviceClient("joints/torque_enable"); + std_srvs::SetBool srv; + srv.request.data = false; + + if (client.call(srv)) + ROS_INFO("[Spider][Joy] disable the all joint torque"); + else + ROS_ERROR("Failed to call service joints/torque_enable"); + + client = nh_.serviceClient("gimbals/torque_enable"); + + if (client.call(srv)) + ROS_INFO("[Spider][Joy] disable the all gimbal torque"); + else + ROS_ERROR("Failed to call service gimbals/torque_enable"); + + prev_joy_cmd = joy_cmd; + return; + } + } else { + /* joint pitch servo */ + if (joy_cmd.buttons[PS3_BUTTON_ACTION_TRIANGLE] == 1) { + if (prev_joy_cmd.buttons[PS3_BUTTON_ACTION_TRIANGLE] == 1) { + prev_joy_cmd = joy_cmd; + return; + } + + /* servo on */ + ros::ServiceClient client = nh_.serviceClient("joint_pitch/torque_enable"); + std_srvs::SetBool srv; + srv.request.data = true; + + if (client.call(srv)) + ROS_INFO("[Spider][Joy] enable the pitch joint torque"); + else + ROS_ERROR("Failed to call service joint_pitch/torque_enable"); + + prev_joy_cmd = joy_cmd; + return; + + } + + if (joy_cmd.buttons[PS3_BUTTON_ACTION_CROSS] == 1) { + if (prev_joy_cmd.buttons[PS3_BUTTON_ACTION_CROSS] == 1) { + prev_joy_cmd = joy_cmd; + return; + } + + /* servo off */ + ros::ServiceClient client = nh_.serviceClient("joint_pitch/torque_enable"); + std_srvs::SetBool srv; + srv.request.data = false; + + if (client.call(srv)) + ROS_INFO("[Spider][Joy] disable the pitch joint torque"); + else + ROS_ERROR("Failed to call service joint_pitch/torque_enable"); + + prev_joy_cmd = joy_cmd; + return; + } + } + + + if(joy_cmd.buttons[PS3_BUTTON_REAR_LEFT_2] == 1) { + /* walk test */ + + if(joy_cmd.buttons[PS3_BUTTON_CROSS_UP] == 1) { + if (!walk_flag_) { + walk_flag_ = true; + resetWalkPattern(); + ROS_INFO("[Spider][Walk][Navigation][Joy] walk pattern start"); + } + return; + } + + if(joy_cmd.buttons[PS3_BUTTON_CROSS_DOWN] == 1) { + + // abort process here + + if (walk_flag_) { + walk_flag_ = false; + resetWalkPattern(); + ROS_INFO("[Spider][Walk][Navigation][Joy] walk pattern abort"); + + if (raise_leg_flag_) { + ROS_WARN_STREAM("[Spider][Walk][Navigation][Joy] instantly lower the raised leg" + << free_leg_id_ + 1 << " during the walk pattern"); + lowerLeg(); + } + } + return; + } + } else if (joy_cmd.buttons[PS3_BUTTON_REAR_LEFT_1] == 1) { + + if (joy_cmd.buttons[PS3_BUTTON_CROSS_UP] == 1) { + if (prev_joy_cmd.buttons[PS3_BUTTON_CROSS_UP] == 1) { + prev_joy_cmd = joy_cmd; + return; + } + + target_baselink_pos_ += tf::Vector3(0, 0, 0.2); + ROS_INFO_STREAM("stand-up"); + + prev_joy_cmd = joy_cmd; + return; + } + + if(joy_cmd.buttons[PS3_BUTTON_CROSS_DOWN] == 1) { + if (prev_joy_cmd.buttons[PS3_BUTTON_CROSS_DOWN] == 1) { + prev_joy_cmd = joy_cmd; + return; + } + + target_baselink_pos_ -= tf::Vector3(0, 0, 0.2); + ROS_INFO_STREAM("sit-down"); + + prev_joy_cmd = joy_cmd; + return; + } + } else { + + /* raise/lower test */ + if(joy_cmd.buttons[PS3_BUTTON_CROSS_UP] == 1) { + + /* raise test */ + if (raise_leg_flag_) { + return; + } + + ROS_INFO("[Joy, raise leg1 up test]"); + raiseLeg(0); + + return; + } + + /* lower test */ + if(joy_cmd.buttons[PS3_BUTTON_CROSS_DOWN] == 1) { + if (lower_leg_flag_) { + return; + } + + if (!raise_leg_flag_) { + return; + } + + ROS_INFO("[Joy, lower leg1 down test]"); + lowerLeg(); + + return; + } + + } + + + /* quick land command */ + if(joy_cmd.buttons[PS3_BUTTON_ACTION_SQUARE] == 1 || joy_cmd.buttons[PS3_BUTTON_CROSS_RIGHT] == 1){ + + if(getNaviState() == LAND_STATE) return; + + if(getNaviState() == ARM_ON_STATE) + { + setNaviState(STOP_STATE); + ROS_ERROR("Joy Conrol: not land, but disarm motors directly"); + } + return; + } + + BaseNavigator::joyStickControl(joy_msg); + + prev_joy_cmd = joy_cmd; +} + +/* plugin registration */ +#include +PLUGINLIB_EXPORT_CLASS(aerial_robot_navigation::Spider::WalkNavigator, aerial_robot_navigation::BaseNavigator); diff --git a/robots/spidar/test/spider_control.test b/robots/spidar/test/spider_control.test new file mode 100644 index 000000000..c19bb4183 --- /dev/null +++ b/robots/spidar/test/spider_control.test @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + topics: + - name: uav/cog/odom + timeout: 5.0 + + + + + + + hovering_duration: 25.0 + convergence_thresholds: [0.02, 0.02, 0.02] # hovering threshold + init_joint_names: ['joint1_pitch', 'joint1_yaw', 'joint2_pitch', 'joint2_yaw', 'joint3_pitch', 'joint3_yaw', 'joint4_pitch', 'joint4_yaw', 'joint5_pitch', 'joint5_yaw', 'joint6_pitch', 'joint6_yaw', 'joint7_pitch', 'joint7_yaw', 'joint8_pitch', 'joint8_yaw'] + init_joint_angles: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + tasks: + - command: "rosrun spidar spidar_octo_transformation.py -t 3000 -q 0.8 -0.8 0 0.8" + threshold: [0.1, 0.08, 0.08] + angle_threshold: 0.2 + timeout: 20 + + + + + + + diff --git a/robots/spidar/urdf/v1/common.xacro b/robots/spidar/urdf/v1/common.xacro new file mode 100644 index 000000000..e42fa8536 --- /dev/null +++ b/robots/spidar/urdf/v1/common.xacro @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + ### [N] + ### [N] + ### [N] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + 0.2 + 0.2 + + + + + + 0.00 + + + diff --git a/robots/spidar/urdf/v1/link.urdf.xacro b/robots/spidar/urdf/v1/link.urdf.xacro new file mode 100644 index 000000000..973077175 --- /dev/null +++ b/robots/spidar/urdf/v1/link.urdf.xacro @@ -0,0 +1,383 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + #### CENTER LINK #### + + #### dummy root link for KDL #### + + + + + + + + + + + + + + + #### link #### + + + + + + + + + + + + + + + + + + + + + + + + + #### joints #### + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + #### hardware interface #### + + + + + + + #### LINK #### + + #### link #### + + + + + + + + + + + + + + + + + + + + + + + + + + + + #### gimbal roll #### + + + + + + + + + + + + + + #### gimbal pitch #### + + + + + + + + + + + + + + #### thrust link (virtual) #### + + + + + + + + + + #### special part of duct fun (temporary)#### + + + + + + + + + + + + + + + + + + + + + + + + + + + + #### joint junction #### + + + + + #### joints #### + #### link joint #### + + + + + + + + + + + + #### gimbal joint #### + + + + + + + + + + + + + + + + + + + #### rotor joint (virtual) #### + + + + + + + + + #### battery #### + + + + + + + + + + + + + + + + + #### end leg #### + + + + + + + + + + + + + + + + #### hardware interface #### + + + + + + + + + transmission_interface/SimpleTransmission + + RotorInterface + + + RotorInterface + 1 + + + + + diff --git a/robots/spidar/urdf/v1/mesh/battery/ZIPPY-3000-25C-6S.dae b/robots/spidar/urdf/v1/mesh/battery/ZIPPY-3000-25C-6S.dae new file mode 100644 index 000000000..4803ebdf1 --- /dev/null +++ b/robots/spidar/urdf/v1/mesh/battery/ZIPPY-3000-25C-6S.dae @@ -0,0 +1,214 @@ + + + + + Blender User + Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171 + + 2022-07-25T12:30:17 + 2022-07-25T12:30:17 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 1000 1000 1000 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1000 + 29.99998 + 75 + 0.15 + 0 + 1 + 2 + 0.04999995 + 30.002 + 1 + 3 + 2880 + 3 + 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\ No newline at end of file