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Adding use of robot description parameter in the Admittance Controller #1247

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Adding use of robot description parameter in the Admittance Controller #1247

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609d98b
Use the urdf_ to set the robot_description in admittance controller
SyllogismRXS Apr 5, 2024
a4b90db
Pass robot_description to kinematics_interface using input arg
SyllogismRXS Apr 9, 2024
30c149a
admittance_controller: skip large dt periods
SyllogismRXS Apr 15, 2024
0a944d1
get robot_description correctly
Nibanovic Aug 1, 2024
79f6ebf
correct for kinematics_interface initialize() API change
Nibanovic Aug 1, 2024
48131cd
Remove skipping of large dts because why to add that?
destogl Aug 14, 2024
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3 changes: 2 additions & 1 deletion admittance_controller/include/admittance_controller/admittance_rule.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,8 @@ class AdmittanceRule

/// Configure admittance rule memory using number of joints.
controller_interface::return_type configure(
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint);
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint,
const std::string & robot_description);

/// Reset all values back to default
controller_interface::return_type reset(const size_t num_joints);
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8 changes: 6 additions & 2 deletions admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
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Expand Up @@ -20,6 +20,7 @@
#include "admittance_controller/admittance_rule.hpp"

#include <memory>
#include <string>
#include <vector>

#include <control_toolbox/filters.hpp>
Expand All @@ -34,7 +35,8 @@ constexpr auto NUM_CARTESIAN_DOF = 6; // (3 translation + 3 rotation)

/// Configure admittance rule memory for num joints and load kinematics interface
controller_interface::return_type AdmittanceRule::configure(
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints)
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints,
const std::string & robot_description)
{
num_joints_ = num_joints;

Expand All @@ -58,7 +60,9 @@ controller_interface::return_type AdmittanceRule::configure(
kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));

if (!kinematics_->initialize(
node->get_node_parameters_interface(), parameters_.kinematics.tip))
robot_description,
node->get_node_parameters_interface(),
"kinematics"))
{
return controller_interface::return_type::ERROR;
}
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4 changes: 3 additions & 1 deletion admittance_controller/src/admittance_controller.cpp
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Expand Up @@ -280,7 +280,9 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
semantic_components::ForceTorqueSensor(admittance_->parameters_.ft_sensor.name));

// configure admittance rule
if (admittance_->configure(get_node(), num_joints_) == controller_interface::return_type::ERROR)
if (
admittance_->configure(get_node(), num_joints_, this->get_robot_description()) ==
controller_interface::return_type::ERROR)
{
return controller_interface::CallbackReturn::ERROR;
}
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