void testJacobian(std::string group_name, std::string base_link, std::string tip_link)
{
SCOPED_TRACE(group_name + ": " + base_link + " to " + tip_link);
srand ( time(NULL) ); // initialize random seed:
rdf_loader::RDFLoader model_loader("robot_description");
robot_model::RobotModelPtr kinematic_model;
kinematic_model.reset(new robot_model::RobotModel(model_loader.getURDF(),model_loader.getSRDF()));
robot_state::RobotStatePtr kinematic_state;
kinematic_state.reset(new robot_state::RobotState(kinematic_model));
kinematic_state->setToDefaultValues();
const moveit::core::JointModelGroup* joint_state_group = kinematic_state->getRobotModel()->getJointModelGroup(group_name);
std::string link_name = tip_link;
std::vector<double> joint_angles(7,0.0);
geometry_msgs::Point ref_position;
Eigen::MatrixXd jacobian;
Eigen::Vector3d point(0.0,0.0,0.0);
kinematic_state->setJointGroupPositions(joint_state_group, &joint_angles[0]);
ASSERT_TRUE(kinematic_state->getJacobian(joint_state_group, kinematic_state->getRobotModel()->getLinkModel(link_name),point,jacobian));
KDL::Tree tree;
if (!kdl_parser::treeFromUrdfModel(*model_loader.getURDF(), tree))
{
ROS_ERROR("Could not initialize tree object");
}
KDL::Chain kdl_chain;
std::string base_frame(base_link);
std::string tip_frame(tip_link);
if (!tree.getChain(base_frame, tip_frame, kdl_chain))
{
ROS_ERROR("Could not initialize chain object");
}
KDL::ChainJntToJacSolver kdl_solver(kdl_chain);
KDL::Jacobian jacobian_kdl(7);
KDL::JntArray q_in(7);
EXPECT_TRUE(kdl_solver.JntToJac(q_in,jacobian_kdl) >= 0);
unsigned int NUM_TESTS = 10000;
for(unsigned int i=0; i < NUM_TESTS; i++)
{
for(int j=0; j < 7; j++)
{
q_in(j) = gen_rand(-M_PI,M_PI);
joint_angles[j] = q_in(j);
}
EXPECT_TRUE(kdl_solver.JntToJac(q_in,jacobian_kdl) >= 0);
kinematic_state->setJointGroupPositions(joint_state_group, &joint_angles[0]);
EXPECT_TRUE(kinematic_state->getJacobian(joint_state_group, kinematic_state->getRobotModel()->getLinkModel(link_name), point, jacobian));
for(unsigned int k=0; k < 6; k++)
{
for(unsigned int m=0; m < 7; m++)
{
EXPECT_FALSE(NOT_NEAR(jacobian_kdl(k,m),jacobian(k,m),1e-10));
}
}
}
}
bool framesFromKDLTree(const KDL::Tree& tree,
std::vector<std::string>& framesNames,
std::vector<std::string>& parentLinkNames)
{
framesNames.clear();
parentLinkNames.clear();
KDL::SegmentMap::iterator seg;
KDL::SegmentMap segs;
KDL::SegmentMap::const_iterator root_seg;
root_seg = tree.getRootSegment();
segs = tree.getSegments();
for( seg = segs.begin(); seg != segs.end(); seg++ )
{
if( GetTreeElementChildren(seg->second).size() == 0 &&
GetTreeElementSegment(seg->second).getJoint().getType() == KDL::Joint::None &&
GetTreeElementSegment(seg->second).getInertia().getMass() == 0.0 )
{
std::string frameName = GetTreeElementSegment(seg->second).getName();
std::string parentLinkName = GetTreeElementSegment(GetTreeElementParent(seg->second)->second).getName();
framesNames.push_back(frameName);
parentLinkNames.push_back(parentLinkName);
//also check parent
KDL::Segment parent = GetTreeElementSegment(GetTreeElementParent(seg->second)->second);
if (parent.getJoint().getType() == KDL::Joint::None &&
parent.getInertia().getMass() == 0.0)
{
framesNames.push_back(parentLinkName);
}
}
}
return true;
}
TEST(JacobianSolver, solver)
{
srand ( time(NULL) ); // initialize random seed:
rdf_loader::RDFLoader model_loader("robot_description");
robot_model::RobotModelPtr kinematic_model;
kinematic_model.reset(new robot_model::RobotModel(model_loader.getURDF(),model_loader.getSRDF()));
robot_state::RobotStatePtr kinematic_state;
kinematic_state.reset(new robot_state::RobotState(kinematic_model));
kinematic_state->setToDefaultValues();
robot_state::JointStateGroup* joint_state_group = kinematic_state->getJointStateGroup("right_arm");
std::string link_name = "r_wrist_roll_link";
std::vector<double> joint_angles(7,0.0);
geometry_msgs::Point ref_position;
Eigen::MatrixXd jacobian;
Eigen::Vector3d point(0.0,0.0,0.0);
joint_state_group->setVariableValues(joint_angles);
ASSERT_TRUE(joint_state_group->getJacobian(link_name,point,jacobian));
KDL::Tree tree;
if (!kdl_parser::treeFromUrdfModel(*model_loader.getURDF(), tree))
{
ROS_ERROR("Could not initialize tree object");
}
KDL::Chain kdl_chain;
std::string base_frame("torso_lift_link");
std::string tip_frame("r_wrist_roll_link");
if (!tree.getChain(base_frame, tip_frame, kdl_chain))
{
ROS_ERROR("Could not initialize chain object");
}
KDL::ChainJntToJacSolver kdl_solver(kdl_chain);
KDL::Jacobian jacobian_kdl(7);
KDL::JntArray q_in(7);
EXPECT_TRUE(kdl_solver.JntToJac(q_in,jacobian_kdl) >= 0);
unsigned int NUM_TESTS = 1000000;
for(unsigned int i=0; i < NUM_TESTS; i++)
{
for(int j=0; j < 7; j++)
{
q_in(j) = gen_rand(-M_PI,M_PI);
joint_angles[j] = q_in(j);
}
EXPECT_TRUE(kdl_solver.JntToJac(q_in,jacobian_kdl) >= 0);
joint_state_group->setVariableValues(joint_angles);
EXPECT_TRUE(joint_state_group->getJacobian(link_name,point,jacobian));
for(unsigned int k=0; k < 6; k++)
{
for(unsigned int m=0; m < 7; m++)
{
EXPECT_FALSE(NOT_NEAR(jacobian_kdl(k,m),jacobian(k,m),1e-10));
}
}
}
}
osg::ref_ptr<osg::Node> RobotModel::makeOsg( boost::shared_ptr<urdf::ModelInterface> urdf_model ){
//Parse also to KDL
KDL::Tree tree;
kdl_parser::treeFromUrdfModel(*urdf_model, tree);
//
// Here we perform a full traversal throu the kinematic tree
// hereby we go depth first
//
boost::shared_ptr<const urdf::Link> urdf_link; //Temp Storage for current urdf link
KDL::Segment kdl_segment; //Temp Storage for urrent KDL link (same as URDF, but already parsed to KDL)
osg::ref_ptr<osg::Node> hook = 0; //Node (from previous segment) to hook up next segment to
std::vector<boost::shared_ptr<const urdf::Link> > link_buffer; //Buffer for links we still need to visit
//used after LIFO principle
std::vector<osg::ref_ptr<osg::Node> > hook_buffer; //Same as above but for hook. The top most
//element here corresponds to the hook of the
//previous depth level in the tree.
link_buffer.push_back(urdf_model->getRoot()); //Initialize buffers with root
hook_buffer.push_back(original_root_);
original_root_name_ = urdf_model->getRoot()->name;
while(!link_buffer.empty()){
//get current node in buffer
urdf_link = link_buffer.back();
link_buffer.pop_back();
//FIXME: This is hacky solution to prevent from links being added twice. There should be a better one
if(std::find (segmentNames_.begin(), segmentNames_.end(), urdf_link->name) != segmentNames_.end())
continue;
//expand node
link_buffer.reserve(link_buffer.size() + std::distance(urdf_link->child_links.begin(), urdf_link->child_links.end()));
link_buffer.insert(link_buffer.end(), urdf_link->child_links.begin(), urdf_link->child_links.end());
//create osg link
hook = hook_buffer.back();
hook_buffer.pop_back();
kdl_segment = tree.getSegment(urdf_link->name)->second.segment;
osg::ref_ptr<osg::Node> new_hook = makeOsg2(kdl_segment,
*urdf_link, hook->asGroup());
//Also store names of links and joints
segmentNames_.push_back(kdl_segment.getName());
if(kdl_segment.getJoint().getType() != KDL::Joint::None)
jointNames_.push_back(kdl_segment.getJoint().getName());
//Append hooks
for(uint i=0; i<urdf_link->child_links.size(); i++)
hook_buffer.push_back(new_hook);
}
relocateRoot(urdf_model->getRoot()->name);
return root_;
}
std::string getDOFName(KDL::Tree & tree, const unsigned int index)
{
std::string retVal = "";
for (KDL::SegmentMap::const_iterator it=tree.getSegments().begin(); it!=tree.getSegments().end(); ++it)
{
if( GetTreeElementQNr(it->second) == index )
{
retVal = GetTreeElementSegment(it->second).getJoint().getName();
}
}
return retVal;
}
bool kdl_urdf_tools::initialize_kinematics_from_urdf(
const std::string &robot_description,
const std::string &root_link,
const std::string &tip_link,
unsigned int &n_dof,
KDL::Chain &kdl_chain,
KDL::Tree &kdl_tree,
urdf::Model &urdf_model)
{
if(robot_description.length() == 0) {
ROS_ERROR("URDF string is empty.");
return false;
}
// Construct an URDF model from the xml string
urdf_model.initString(robot_description);
// Get a KDL tree from the robot URDF
if (!kdl_parser::treeFromUrdfModel(urdf_model, kdl_tree)){
ROS_ERROR("Failed to construct kdl tree");
return false;
}
// Populate the KDL chain
if(!kdl_tree.getChain(root_link, tip_link, kdl_chain))
{
ROS_ERROR_STREAM("Failed to get KDL chain from tree: ");
ROS_ERROR_STREAM(" "<<root_link<<" --> "<<tip_link);
ROS_ERROR_STREAM(" Tree has "<<kdl_tree.getNrOfJoints()<<" joints");
ROS_ERROR_STREAM(" Tree has "<<kdl_tree.getNrOfSegments()<<" segments");
ROS_ERROR_STREAM(" The segments are:");
KDL::SegmentMap segment_map = kdl_tree.getSegments();
KDL::SegmentMap::iterator it;
for( it=segment_map.begin();
it != segment_map.end();
it++ )
{
ROS_ERROR_STREAM( " "<<(*it).first);
}
return false;
}
// Store the number of degrees of freedom of the chain
n_dof = kdl_chain.getNrOfJoints();
return true;
}
std::vector<std::string> getLinkAttachedToFixedJoints(KDL::Tree & tree)
{
std::vector<std::string> ret;
for(KDL::SegmentMap::const_iterator seg=tree.getSegments().begin();
seg != tree.getSegments().end();
seg++)
{
if( GetTreeElementSegment(seg->second).getJoint().getType() == KDL::Joint::None )
{
ret.push_back(GetTreeElementSegment(seg->second).getName());
}
}
return ret;
}
bool leatherman::getChainTip(const KDL::Tree &tree, const std::vector<std::string> &segments, std::string chain_root, std::string &chain_tip)
{
KDL::Chain chain;
// compute # of links each link would include if tip of chain
for(size_t i = 0; i < segments.size(); ++i)
{
// create chain with link i as the tip
if (!tree.getChain(chain_root, segments[i], chain))
{
ROS_ERROR("Failed to fetch the KDL chain. This code only supports a set of segments that live within a single kinematic chain. (root: %s, tip: %s)", chain_root.c_str(), segments[i].c_str());
return false;
}
int index;
size_t num_segments_included = 0;
for(size_t j = 0; j < segments.size(); ++j)
{
if(leatherman::getSegmentIndex(chain, segments[j], index))
num_segments_included++;
}
if(num_segments_included == segments.size())
{
chain_tip = segments[i];
return true;
}
}
return false;
}
bool getKDLChain(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
{
// create robot chain from root to tip
KDL::Tree tree;
if (!kdl_parser::treeFromString(xml_string, tree))
{
ROS_ERROR("Could not initialize tree object");
return false;
}
if (!tree.getChain(root_name, tip_name, kdl_chain))
{
ROS_ERROR("Could not initialize chain object");
return false;
}
return true;
}
bool getKDLChain(const urdf::ModelInterface& model, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
{
// create robot chain from root to tip
KDL::Tree tree;
if (!kdl_parser::treeFromUrdfModel(model, tree))
{
ROS_ERROR("Could not initialize tree object");
return false;
}
if (!tree.getChain(root_name, tip_name, kdl_chain))
{
ROS_ERROR_STREAM("Could not initialize chain object for base " << root_name << " tip " << tip_name);
return false;
}
return true;
}
void computeRNEDynamicsForChain(KDL::Tree& a_tree, const std::string& rootLink, const std::string& tipLink, KDL::Vector& grav,
std::vector<kdle::JointState>& jointState, std::vector<kdle::SegmentState>& linkState)
{
KDL::Chain achain;
a_tree.getChain(rootLink, tipLink, achain);
KDL::JntArray q(achain.getNrOfJoints());
KDL::JntArray q_dot(achain.getNrOfJoints());
KDL::JntArray q_dotdot(achain.getNrOfJoints());
JntArray torques(achain.getNrOfJoints());
KDL::Wrenches f_ext;
f_ext.resize(achain.getNrOfSegments());
std::cout << endl << endl;
printf("RNE dynamics values \n");
KDL::ChainIdSolver_RNE *rneDynamics = new ChainIdSolver_RNE(achain, -grav);
for (unsigned int i = 0; i < achain.getNrOfJoints(); ++i)
{
q(i) = jointState[i].q;
q_dot(i) = jointState[i].qdot;
q_dotdot(i) = jointState[i].qdotdot;
printf("q, qdot %f, %f\n", q(i), q_dot(i));
}
rneDynamics->CartToJnt(q, q_dot, q_dotdot, f_ext, torques);
for (unsigned int i = 0; i < achain.getNrOfJoints(); ++i)
{
printf("index, q, qdot, torques %d, %f, %f, %f\n", i, q(i), q_dot(i), torques(i));
}
return;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "cob_ik_solver");
ros::NodeHandle n;
ros::NodeHandle node;
std::string robot_desc_string;
node.param("/robot_description", robot_desc_string, string());
if (!kdl_parser::treeFromString(robot_desc_string, my_tree)){
ROS_ERROR("Failed to construct kdl tree");
return false;
}
my_tree.getChain("base_link","arm_7_link", chain);
ros::ServiceServer get_ik_service = n.advertiseService("get_ik", ik_solve);
ros::ServiceServer get_constraint_aware_ik_service = n.advertiseService("get_constraint_aware_ik", constraint_aware_ik_solve);
ros::ServiceServer get_ik_solver_info_service = n.advertiseService("get_ik_solver_info", getIKSolverInfo);
ros::ServiceServer get_fk_service = n.advertiseService("get_fk", fk_solve);
ros::ServiceServer get_fk_tcp_service = n.advertiseService("get_fk_tcp", fk_solve_TCP);
ros::ServiceServer get_fk_all_service = n.advertiseService("get_fk_all", fk_solve_all);
ros::ServiceServer get_fk_solver_info_service = n.advertiseService("get_fk_solver_info", getFKSolverInfo);
ROS_INFO("IK Server Running.");
ros::spin();
return 0;
}
static inline YAML::Node extract(const std::string& start_link, const std::string& end_link, const KDL::Tree& robot_tree)
{
KDL::Chain chain;
if (!robot_tree.getChain(start_link, end_link, chain))
{
throw InvalidChain(start_link, end_link);
}
return extract(start_link, end_link, chain);
}
KDL::Chain ArmKinematics::readChainFromUrdf(const urdf::ModelInterface& robot_model,
const std::string &root_name, const std::string &tip_name)
{
KDL::Tree tree;
KDL::Chain chain;
if (!kdl_parser::treeFromUrdfModel(robot_model, tree)) {
cout << "Could not parse robot model into a kdl_tree.\n";
throw;
}
if (!tree.getChain(root_name, tip_name, chain)) {
cout << "Could not initialize chain object\n";
throw;
}
return chain;
}
bool isBaseLinkFake(const KDL::Tree & tree)
{
KDL::SegmentMap::const_iterator root = tree.getRootSegment();
bool return_value;
if (GetTreeElementChildren(root->second).size() == 1 && GetTreeElementSegment(GetTreeElementChildren(root->second)[0]->second).getJoint().getType() == Joint::None) {
return_value = true;
} else {
return_value = false;
}
return return_value;
}
FkLookup::ChainFK::ChainFK(const KDL::Tree& tree, const std::string& root, const std::string& tip):root_name(root),tip_name(tip){
KDL::Chain chain;
tree.getChain(root_name, tip_name, chain);
solver = new KDL::ChainFkSolverPos_recursive(chain);
unsigned int num = chain.getNrOfSegments();
for(unsigned int i = 0; i < num; ++i){
const KDL::Joint &joint = chain.getSegment(i).getJoint();
if (joint.getType() != KDL::Joint::None) joints.insert(std::make_pair(joint.getName(),joints.size()));
}
ROS_ASSERT(joints.size() == chain.getNrOfJoints());
}
/* Method to load all the values from the parameter server
* @returns true is successful
*/
bool Kinematics::loadModel(const std::string xml) {
urdf::Model robot_model;
KDL::Tree tree;
if (!robot_model.initString(xml)) {
ROS_FATAL("Could not initialize robot model");
return -1;
}
if (!kdl_parser::treeFromString(xml, tree)) {
ROS_ERROR("Could not initialize tree object");
return false;
}
if (!tree.getChain(root_name, tip_name, chain)) {
ROS_ERROR("Could not initialize chain object for root_name %s and tip_name %s",root_name.c_str(), tip_name.c_str());
return false;
}
if (!readJoints(robot_model)) {
ROS_FATAL("Could not read information about the joints");
return false;
}
return true;
}
bool BodyKinematics::loadModel(const std::string xml){
//Construct tree with kdl_parser
KDL::Tree tree;
if (!kdl_parser::treeFromString(xml, tree)) {
ROS_ERROR("Could not initialize tree object");
return false;
}
ROS_INFO("Construct tree");
//Get coxa and leg_center frames via segments (for calculating vectors)
std::map<std::string,KDL::TreeElement>::const_iterator segments_iter;
std::string link_name_result;
for (int i=0; i<num_legs; i++){
link_name_result = root_name + suffixes[i];
segments_iter = tree.getSegment(link_name_result);
frames.push_back((*segments_iter).second.segment.getFrameToTip());
}
for (int i=0; i<num_legs; i++){
link_name_result = tip_name + suffixes[i];
segments_iter = tree.getSegment(link_name_result);
frames.push_back((*segments_iter).second.segment.getFrameToTip());
}
ROS_INFO("Get frames");
//Vector iterators
for (int i=0; i<num_legs; i++){
frames[i] = frames[i] * frames[i+num_legs];
}
frames.resize(num_legs);
for (int i=0; i<num_legs; i++){
for (int j = 0; j < num_joints; j++) {
legs.joints_state[i].joint[j] = 0;
}
}
return true;
}
bool leatherman::getSegmentOfJoint(const KDL::Tree &tree, std::string joint, std::string &segment)
{
KDL::SegmentMap smap = tree.getSegments();
for(std::map<std::string, KDL::TreeElement>::const_iterator iter = smap.begin(); iter != smap.end(); ++iter)
{
if(iter->second.segment.getJoint().getName().compare(joint) == 0)
{
segment = iter->second.segment.getName();
return true;
}
}
return false;
}
bool LegKinematics::loadModel(const std::string xml) {
KDL::Tree tree;
KDL::Chain chain;
std::string tip_name_result;
if (!kdl_parser::treeFromString(xml, tree)) {
ROS_ERROR("Could not initialize tree object");
return false;
}
ROS_INFO("Construct tree");
for (int i=0; i<num_legs; i++){
tip_name_result = tip_name + suffixes[i];
if (!tree.getChain(root_name, tip_name_result, chain)) {
ROS_ERROR("Could not initialize chain_%s object", suffixes[i].c_str());
return false;
}
chains_ptr[i] = new KDL::Chain(chain);
}
ROS_INFO("Construct chains");
return true;
}
bool ExcavaROBArmKinematics::loadModel(const std::string xml) {
urdf::Model robot_model;
KDL::Tree tree;
if (!robot_model.initString(xml)) {
ROS_FATAL("Could not initialize robot model");
return false;
}
if (!kdl_parser::treeFromString(xml, tree)) {
ROS_ERROR("Could not initialize tree object");
return false;
}
if (!tree.getChain(root_name_, tip_name_, arm_chain_)) {
ROS_ERROR("Could not initialize chain object");
return false;
}
if (!readJoints(robot_model, tip_name_, root_name_, &num_joints_arm_)) {
ROS_FATAL("Could not read information about the joints");
return false;
}
return true;
}
TorqueEstimationTree::TorqueEstimationTree(KDL::Tree& icub_kdl,
std::vector< kdl_format_io::FTSensorData > ft_sensors,
std::vector< std::string > ft_serialization,
std::string fixed_link, unsigned int verbose)
{
yarp::sig::Vector q_max(icub_kdl.getNrOfJoints(),1000.0);
yarp::sig::Vector q_min(icub_kdl.getNrOfJoints(),-1000.0);
KDL::CoDyCo::TreeSerialization serial(icub_kdl);
std::vector<std::string> dof_serialization;
for(int i = 0; i < serial.getNrOfDOFs(); i++ )
{
dof_serialization.push_back(serial.getDOFName(i));
}
TorqueEstimationConstructor(icub_kdl,ft_sensors,dof_serialization,ft_serialization,q_min,q_max,fixed_link,verbose);
}
void LaserJointProjector::configure(const KDL::Tree& tree,
const std::string& root, const std::string& tip)
{
bool success;
success = tree.getChain(root, tip, chain_);
if (!success)
ROS_ERROR("Error extracting chain from [%s] to [%s]\n", root.c_str(), tip.c_str());
KDL::Segment angle_segment("laser_angle_segment",
KDL::Joint("laser_angle_joint", KDL::Joint::RotZ));
KDL::Segment range_segment("laser_range_segment",
KDL::Joint("laser_range_joint", KDL::Joint::TransX));
chain_.addSegment(angle_segment);
chain_.addSegment(range_segment);
for (unsigned int i=0; i < chain_.segments.size(); i++)
{
printf("%2u) %s -> %s\n", i, chain_.segments[i].getName().c_str(),
chain_.segments[i].getJoint().getName().c_str());
}
solver_.reset(new KDL::ChainFkSolverPos_recursive(chain_));
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "cartesian");
ros::NodeHandle n;
ros::NodeHandle n_private("~");
string robot_desc;
n.getParam("robot_description", robot_desc);
KDL::Tree tree;
if (!kdl_parser::treeFromString(robot_desc, tree))
{
ROS_ERROR("failed to extract kdl tree from xml robot description");
return 1;
}
if (!tree.getNrOfSegments())
{
ROS_ERROR("empty tree. sad.");
return 1;
}
KDL::Chain chain;
if (!tree.getChain("torso_link", "tool_link", chain))
{
ROS_ERROR("couldn't pull arm chain from robot model");
return 1;
}
ROS_INFO("parsed tree successfully");
///////////////////////////////////////////////////////////////////////
//ros::Subscriber target_sub = n.subscribe("ik_request", 1, ik_request_cb);
ros::Subscriber joint_sub = n.subscribe("joint_states", 1, joint_cb);
ros::Publisher joint_pub = n.advertise<sensor_msgs::JointState>("target_joints", 1);
ros::ServiceServer ik_param_srv = n.advertiseService("arm_ik_params",
ik_params_cb);
g_joint_pub = &joint_pub; // ugly ugly
tf::TransformBroadcaster tf_broadcaster;
tf::TransformListener tf_listener;
g_tf_broadcaster = &tf_broadcaster;
g_tf_listener = &tf_listener;
ros::Rate loop_rate(30);
geometry_msgs::TransformStamped world_trans;
world_trans.header.frame_id = "world";
world_trans.child_frame_id = "torso_link";
world_trans.transform.translation.x = 0;
world_trans.transform.translation.y = 0;
world_trans.transform.translation.z = 0;
world_trans.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(0,0,0);
g_js.name.resize(7);
g_js.position.resize(7);
g_js.name[0] = "shoulder1";
g_js.name[1] = "shoulder2";
g_js.name[2] = "shoulder3";
g_js.name[3] = "elbow";
g_js.name[4] = "wrist1";
g_js.name[5] = "wrist2";
g_js.name[6] = "wrist3";
for (int i = 0; i < 7; i++)
g_js.position[i] = 0;
KDL::TreeFkSolverPosFull_recursive fk_solver(tree);
g_fk_solver = &fk_solver;
KDL::SegmentMap::const_iterator root_seg = tree.getRootSegment();
string tree_root_name = root_seg->first;
printf("root: %s\n", tree_root_name.c_str());
KDL::ChainFkSolverPos_recursive fk_solver_chain(chain);
KDL::ChainIkSolverVel_pinv ik_solver_vel(chain);
KDL::JntArray q_min(7), q_max(7);
for (int i = 0; i < 7; i++)
{
q_min.data[i] = g_joint_min[i];
q_max.data[i] = g_joint_max[i];
}
KDL::ChainIkSolverPos_NR_JL ik_solver_pos(chain, q_min, q_max,
fk_solver_chain, ik_solver_vel,
100, 1e-6);
//KDL::ChainIkSolverPos_NR ik_solver_pos(chain, fk_solver_chain, ik_solver_vel, 100, 1e-6);
g_ik_solver = &ik_solver_pos;
KDL::ChainJntToJacSolver jac_solver(chain);
g_jac_solver = &jac_solver;
//boost::scoped_ptr<KDL::TreeFkSolverPosFull_recursive> fk_solver;
g_pose.resize(7);
g_pose[0] = .3;
g_pose[1] = -.3;
g_pose[2] = -.6;
g_pose[3] = 0;
g_pose[4] = 0;
g_pose[5] = 0;
g_pose[6] = 0;
//tf::Transform t_tool = fk_tool(g_pose);
//double d_pose = 0, d_pose_inc = 0.01;
// set origin to be something we can comfortably reach
//g_target_origin = fk_tool(g_pose);
//btQuaternion target_quat;
//target_quat.setEuler(1.57, -1.57, 0);
//g_target_origin.setRotation(target_quat);
//g_target_origin = btTransform(btQuaternion::getIdentity(), btVector3(0, 0.1, 0));
//tf::Transform(btQuaternion::getIdentity(), btVector3(0, 0, 0));
std::vector<double> j_ik;
j_ik.resize(7);
while (ros::ok())
{
loop_rate.sleep();
ros::spinOnce();
world_trans.header.stamp = ros::Time::now();
tf_broadcaster.sendTransform(world_trans);
if (g_actual_js.position.size() >= 7)
{
for (int i = 0; i < 7; i++)
j_ik[i] = g_actual_js.position[i];
}
tf::StampedTransform t;
try
{
g_tf_listener->lookupTransform("torso_link", "ik_target",
ros::Time(0), t);
}
catch (tf::TransformException ex)
{
ROS_ERROR("%s", ex.what());
continue;
}
if (ik_tool(t, j_ik, g_posture, g_posture_gain))
{
g_js.header.stamp = ros::Time::now();
g_js.position = j_ik;
g_joint_pub->publish(g_js);
}
ros::spinOnce();
/*
double x = t.getOrigin().x(), y = t.getOrigin().y(), z = t.getOrigin().z();
double roll, pitch, yaw;
btMatrix3x3(t.getRotation()).getRPY(roll, pitch, yaw);
printf("%.3f %.3f %.3f %.3f %.3f %.3f\n", x, y, z, roll, pitch, yaw);
*/
//std::vector<double> j_ik = pose;
//js.position[2] += 1;
//j_ik = pose;js.position;
//printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f\n",
// j_ik[0], j_ik[1], j_ik[2], j_ik[3], j_ik[4], j_ik[5], j_ik[6]);
//j_ik[2] += posture;
//j_ik[3] += posture;
//j_ik[4] += posture;
#if 0
tf::Transform t_bump(btQuaternion::getIdentity(),
btVector3(d_pose, 0, 0));
//tf::Transform t_target = t_tool * t_bump;
ik_tool(t_tool * t_bump, j_ik);
#endif
//double x = t.getOrigin().x(), y = t.getOrigin().y(), z = t.getOrigin().z();
/*
printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n",
posture,
j_ik[0], j_ik[1], j_ik[2], j_ik[3], j_ik[4], j_ik[5], j_ik[6]);
printf("\n");
*/
/*
js.header.stamp = ros::Time::now();
js.position = j_ik;
joint_pub.publish(js);
d_pose += d_pose_inc;
if (d_pose > 0.28)
d_pose_inc = -0.005;
else if (d_pose < -0.30)
d_pose_inc = 0.005;
printf("%f %f\n", d_pose, d_pose_inc);
*/
}
return 0;
}
bool JacoIKSolver::initFromURDF(const std::string urdf, const std::string root_name,
const std::string tip_name, unsigned int max_iter, std::string error)
{
urdf::Model robot_model;
KDL::Tree tree;
if (!robot_model.initFile(urdf))
{
error += "Could not initialize robot model";
return false;
}
if (!kdl_parser::treeFromFile(urdf, tree))
{
error += "Could not initialize tree object";
return false;
}
if (tree.getSegment(root_name) == tree.getSegments().end())
{
error += "Could not find root link '" + root_name + "'.";
return false;
}
if (tree.getSegment(tip_name) == tree.getSegments().end())
{
error += "Could not find tip link '" + tip_name + "'.";
return false;
}
if (!tree.getChain(root_name, tip_name, chain_))
{
error += "Could not initialize chain object";
return false;
}
// Get the joint limits from the robot model
q_min_.resize(chain_.getNrOfJoints());
q_max_.resize(chain_.getNrOfJoints());
q_seed_.resize(chain_.getNrOfJoints());
joint_names_.resize(chain_.getNrOfJoints());
unsigned int j = 0;
for(unsigned int i = 0; i < chain_.getNrOfSegments(); ++i)
{
const KDL::Joint& kdl_joint = chain_.getSegment(i).getJoint();
if (kdl_joint.getType() != KDL::Joint::None)
{
// std::cout << chain_.getSegment(i).getName() << " -> " << kdl_joint.getName() << " -> " << chain_.getSegment(i + 1).getName() << std::endl;
boost::shared_ptr<const urdf::Joint> joint = robot_model.getJoint(kdl_joint.getName());
if (joint && joint->limits)
{
q_min_(j) = joint->limits->lower;
q_max_(j) = joint->limits->upper;
q_seed_(j) = (q_min_(j) + q_max_(j)) / 2;
}
else
{
q_min_(j) = -1e9;
q_max_(j) = 1e9;
q_seed_(j) = 0;
}
joint_names_[j] = kdl_joint.getName();
++j;
}
}
;
fk_solver_.reset(new KDL::ChainFkSolverPos_recursive(chain_));
ik_vel_solver_.reset(new KDL::ChainIkSolverVel_pinv(chain_));
ik_solver_.reset(new KDL::ChainIkSolverPos_NR_JL(chain_, q_min_, q_max_, *fk_solver_, *ik_vel_solver_, max_iter));
std::cout << "Using normal solver" << std::endl;
jnt_to_jac_solver_.reset(new KDL::ChainJntToJacSolver(chain_));
return true;
}
void testFwdKinConsistency(std::string modelFilePath)
{
std::cout << "Testing " << modelFilePath << std::endl;
// Load iDynTree model and compute a default traversal
ModelLoader loader;
loader.loadModelFromFile(modelFilePath);
iDynTree::Model model = loader.model();
iDynTree::Traversal traversal;
model.computeFullTreeTraversal(traversal);
// Load KDL tree
KDL::Tree tree;
treeFromUrdfFile(modelFilePath,tree);
KDL::CoDyCo::UndirectedTree undirected_tree(tree);
KDL::CoDyCo::Traversal kdl_traversal;
undirected_tree.compute_traversal(kdl_traversal);
// A KDL::Tree only supports 0 and 1 DOFs joints, and
// KDL::Tree::getNrOfJoints does not count the 0 dof joints, so
// it is actually equivalent to iDynTree::Model::getNrOfDOFs
ASSERT_EQUAL_DOUBLE(tree.getNrOfJoints(),model.getNrOfDOFs());
// Input : joint positions and base position with respect to world
iDynTree::FreeFloatingPos baseJntPos(model);
iDynTree::FreeFloatingVel baseJntVel(model);
iDynTree::FreeFloatingAcc baseJntAcc(model);
baseJntPos.worldBasePos() = getRandomTransform();
baseJntVel.baseVel() = getRandomTwist();
baseJntAcc.baseAcc() = getRandomTwist();
for(unsigned int jnt=0; jnt < baseJntPos.getNrOfPosCoords(); jnt++)
{
baseJntPos.jointPos()(jnt) = getRandomDouble();
baseJntVel.jointVel()(jnt) = getRandomDouble();
baseJntAcc.jointAcc()(jnt) = getRandomDouble();
}
// Build a map between KDL joints and iDynTree joints because we are not sure
// that the joint indices will match
std::vector<int> kdl2idyntree_joints;
kdl2idyntree_joints.resize(undirected_tree.getNrOfDOFs());
for(unsigned int dofIndex=0; dofIndex < undirected_tree.getNrOfDOFs(); dofIndex++)
{
std::string dofName = undirected_tree.getJunction(dofIndex)->getName();
int idyntreeJointIndex = model.getJointIndex(dofName);
kdl2idyntree_joints[dofIndex] = idyntreeJointIndex;
}
KDL::JntArray jntKDL(undirected_tree.getNrOfDOFs());
KDL::JntArray jntVelKDL(undirected_tree.getNrOfDOFs());
KDL::JntArray jntAccKDL(undirected_tree.getNrOfDOFs());
KDL::Frame worldBaseKDL;
KDL::Twist baseVelKDL;
KDL::Twist baseAccKDL;
ToKDL(baseJntPos,worldBaseKDL,jntKDL,kdl2idyntree_joints);
ToKDL(baseJntVel,baseVelKDL,jntVelKDL,kdl2idyntree_joints);
ToKDL(baseJntAcc,baseAccKDL,jntAccKDL,kdl2idyntree_joints);
// Output : link (for iDynTree) or frame positions with respect to world
std::vector<KDL::Frame> framePositions(undirected_tree.getNrOfLinks());
iDynTree::LinkPositions linkPositions(model);
// Build a map between KDL links and iDynTree links because we are not sure
// that the link indices will match
std::vector<int> idynTree2KDL_links;
idynTree2KDL_links.resize(model.getNrOfLinks());
for(unsigned int linkIndex=0; linkIndex < model.getNrOfLinks(); linkIndex++)
{
std::string linkName = model.getLinkName(linkIndex);
int kdlLinkIndex = undirected_tree.getLink(linkName)->getLinkIndex();
idynTree2KDL_links[linkIndex] = kdlLinkIndex;
}
// Compute position forward kinematics with old KDL code and with the new iDynTree code
KDL::CoDyCo::getFramesLoop(undirected_tree,
jntKDL,
kdl_traversal,
framePositions,
worldBaseKDL);
ForwardPositionKinematics(model,traversal,baseJntPos,linkPositions);
// Check results
for(unsigned int travEl = 0; travEl < traversal.getNrOfVisitedLinks(); travEl++)
{
LinkIndex linkIndex = traversal.getLink(travEl)->getIndex();
ASSERT_EQUAL_TRANSFORM_TOL(linkPositions(linkIndex),ToiDynTree(framePositions[idynTree2KDL_links[linkIndex]]),1e-1);
}
// Compution velocity & acceleration kinematics
std::vector<KDL::Twist> kdlLinkVel(undirected_tree.getNrOfLinks());
std::vector<KDL::Twist> kdlLinkAcc(undirected_tree.getNrOfLinks());
KDL::CoDyCo::rneaKinematicLoop(undirected_tree,jntKDL,jntVelKDL,jntAccKDL,kdl_traversal,
baseVelKDL,baseAccKDL,kdlLinkVel,kdlLinkAcc);
iDynTree::LinkVelArray linksVels(model);
iDynTree::LinkAccArray linksAcc(model);
ForwardVelAccKinematics(model,traversal,baseJntPos,baseJntVel,baseJntAcc,linksVels,linksAcc);
// Check results
for(unsigned int travEl = 0; travEl < traversal.getNrOfVisitedLinks(); travEl++)
{
LinkIndex linkIndex = traversal.getLink(travEl)->getIndex();
ASSERT_EQUAL_VECTOR(linksVels(linkIndex).asVector(),
ToiDynTree(kdlLinkVel[idynTree2KDL_links[linkIndex]]).asVector());
ASSERT_EQUAL_VECTOR(linksAcc(linkIndex).asVector(),
ToiDynTree(kdlLinkAcc[idynTree2KDL_links[linkIndex]]).asVector());
}
// Compute position, velocity and acceleration
LinkPositions linksPos_check(model);
iDynTree::LinkVelArray linksVels_check(model);
iDynTree::LinkAccArray linksAcc_check(model);
ForwardPosVelAccKinematics(model,traversal,baseJntPos, baseJntVel, baseJntAcc,
linksPos_check,linksVels_check,linksAcc_check);
for(unsigned int travEl = 0; travEl < traversal.getNrOfVisitedLinks(); travEl++)
{
LinkIndex linkIndex = traversal.getLink(travEl)->getIndex();
ASSERT_EQUAL_TRANSFORM(linkPositions(linkIndex),
linksPos_check(linkIndex));
ASSERT_EQUAL_VECTOR(linksVels(linkIndex).asVector(),
linksVels_check(linkIndex).asVector());
ASSERT_EQUAL_VECTOR(linksAcc(linkIndex).asVector(),
linksAcc(linkIndex).asVector());
}
// Compute torques (i.e. inverse dynamics)
LinkNetExternalWrenches fExt(model);
LinkInternalWrenches f(model);
FreeFloatingGeneralizedTorques baseWrenchJointTorques(model);
KDL::JntArray jntTorques(model.getNrOfDOFs());
KDL::Wrench baseWrench;
std::vector<KDL::Wrench> fExtKDL(undirected_tree.getNrOfLinks());
std::vector<KDL::Wrench> fKDL(undirected_tree.getNrOfLinks());
// First set to zero all the fExtKDL, fKDL wrenches : then
// the following loop will set the one that correspond to "real"
// iDynTree links to the same value we used in iDynTree
for(unsigned int linkKDL = 0; linkKDL < undirected_tree.getNrOfLinks(); linkKDL++)
{
fKDL[linkKDL] = KDL::Wrench::Zero();
fExtKDL[linkKDL] = KDL::Wrench::Zero();
}
for(unsigned int link = 0; link < model.getNrOfLinks(); link++ )
{
fExt(link) = getRandomWrench();
fExtKDL[idynTree2KDL_links[link]] = ToKDL(fExt(link));
fKDL[idynTree2KDL_links[link]] = KDL::Wrench::Zero();
}
bool ok = RNEADynamicPhase(model,traversal,
baseJntPos.jointPos(),
linksVels,linksAcc,fExt,f,baseWrenchJointTorques);
int retVal = KDL::CoDyCo::rneaDynamicLoop(undirected_tree,jntKDL,kdl_traversal,
kdlLinkVel,kdlLinkAcc,
fExtKDL,fKDL,jntTorques,baseWrench);
ASSERT_EQUAL_DOUBLE(ok,true);
ASSERT_EQUAL_DOUBLE(retVal,0);
/***
* This check is commented out because KDL::CoDyCo::rneaDynamicLoop returned
* a reverse baseWrench.. still need to be investigated.
* (The - is necessary for consistency with the mass matrix..)
*
*/
//ASSERT_EQUAL_VECTOR(baseWrenchJointTorques.baseWrench().asVector(),
// ToiDynTree(baseWrench).asVector());
for(int link = 0; link < model.getNrOfLinks(); link++ )
{
ASSERT_EQUAL_VECTOR(f(link).asVector(),ToiDynTree(fKDL[idynTree2KDL_links[link]]).asVector());
}
for(int dof = 0; dof < model.getNrOfDOFs(); dof++ )
{
ASSERT_EQUAL_DOUBLE(jntTorques(dof),baseWrenchJointTorques.jointTorques()(kdl2idyntree_joints[dof]));
}
// Check mass matrix
iDynTree::FreeFloatingMassMatrix massMatrix(model);
iDynTree::LinkInertias crbis(model);
ok = CompositeRigidBodyAlgorithm(model,traversal,
baseJntPos.jointPos(),
crbis,massMatrix);
KDL::CoDyCo::FloatingJntSpaceInertiaMatrix massMatrixKDL(undirected_tree.getNrOfDOFs()+6);
std::vector<KDL::RigidBodyInertia> Ic(undirected_tree.getNrOfLinks());
retVal = KDL::CoDyCo::crba_floating_base_loop(undirected_tree,kdl_traversal,jntKDL,Ic,massMatrixKDL);
ASSERT_IS_TRUE(ok);
ASSERT_EQUAL_DOUBLE_TOL(retVal,0,1e-8);
// Check composite rigid body inertias
for(int link = 0; link < model.getNrOfLinks(); link++ )
{
ASSERT_EQUAL_MATRIX(crbis(link).asMatrix(),ToiDynTree(Ic[idynTree2KDL_links[link]]).asMatrix());
}
std::cerr << "iDynTree " << massMatrix.toString() << std::endl;
std::cerr << "massMatrix " << massMatrixKDL.data << std::endl;
// Check CRBA algorithm
for(int ii=0; ii < model.getNrOfDOFs()+6; ii++ )
{
for( int jj=0; jj < model.getNrOfDOFs()+6; jj++ )
{
int idyntreeII = kdl2idyntreeFloatingDOFMapping(ii,kdl2idyntree_joints);
int idyntreeJJ = kdl2idyntreeFloatingDOFMapping(jj,kdl2idyntree_joints);
ASSERT_EQUAL_DOUBLE_TOL(massMatrix(idyntreeII,idyntreeJJ),massMatrixKDL(ii,jj),1e-8);
}
}
return;
}
SNS_IK::SNS_IK(const std::string& base_link, const std::string& tip_link,
const std::string& URDF_param, double loopPeriod, double eps,
sns_ik::VelocitySolveType type) :
m_initialized(false),
m_eps(eps),
m_loopPeriod(loopPeriod),
m_nullspaceGain(1.0),
m_solvetype(type)
{
ros::NodeHandle node_handle("~");
urdf::Model robot_model;
std::string xml_string;
std::string urdf_xml, full_urdf_xml;
node_handle.param("urdf_param",urdf_xml,URDF_param);
node_handle.searchParam(urdf_xml,full_urdf_xml);
ROS_DEBUG_NAMED("sns_ik","Reading xml file from parameter server");
if (!node_handle.getParam(full_urdf_xml, xml_string)) {
ROS_FATAL_NAMED("sns_ik","Could not load the xml from parameter server: %s", urdf_xml.c_str());
return;
}
node_handle.param(full_urdf_xml, xml_string, std::string());
robot_model.initString(xml_string);
ROS_DEBUG_STREAM_NAMED("sns_ik","Reading joints and links from URDF");
KDL::Tree tree;
if (!kdl_parser::treeFromUrdfModel(robot_model, tree)) {
ROS_FATAL("Failed to extract kdl tree from xml robot description.");
return;
}
if(!tree.getChain(base_link, tip_link, m_chain)) {
ROS_FATAL("Couldn't find chain %s to %s",base_link.c_str(),tip_link.c_str());
}
std::vector<KDL::Segment> chain_segments = m_chain.segments;
boost::shared_ptr<const urdf::Joint> joint;
m_lower_bounds.resize(m_chain.getNrOfJoints());
m_upper_bounds.resize(m_chain.getNrOfJoints());
m_velocity.resize(m_chain.getNrOfJoints());
m_acceleration.resize(m_chain.getNrOfJoints());
m_jointNames.resize(m_chain.getNrOfJoints());
unsigned int joint_num=0;
for(std::size_t i = 0; i < chain_segments.size(); ++i) {
joint = robot_model.getJoint(chain_segments[i].getJoint().getName());
if (joint->type != urdf::Joint::UNKNOWN && joint->type != urdf::Joint::FIXED) {
double lower=0; //TODO Better default values? Error if these arent found?
double upper=0;
double velocity=0;
double acceleration=0;
if ( joint->type == urdf::Joint::CONTINUOUS ) {
lower=std::numeric_limits<float>::lowest();
upper=std::numeric_limits<float>::max();
} else {
if(joint->safety) {
lower = std::max(joint->limits->lower, joint->safety->soft_lower_limit);
upper = std::min(joint->limits->upper, joint->safety->soft_upper_limit);
} else {
lower = joint->limits->lower;
upper = joint->limits->upper;
}
velocity = std::fabs(joint->limits->velocity);
}
// Checking the Param server for limit modifications
// and acceleration limits
std::string prefix = urdf_xml + "_planning/joint_limits/" + joint->name + "/";
double ul;
if(node_handle.getParam(prefix + "max_position", ul)){
upper = std::min(upper, ul);
}
double ll;
if(node_handle.getParam(prefix + "min_position", ll)){
lower = std::max(lower, ll);
}
double vel;
if(node_handle.getParam(prefix + "max_velocity", vel)){
if (velocity > 0)
velocity = std::min(velocity, std::fabs(vel));
else
velocity = std::fabs(vel);
}
node_handle.getParam(prefix + "max_acceleration", acceleration);
m_lower_bounds(joint_num)=lower;
m_upper_bounds(joint_num)=upper;
m_velocity(joint_num) = velocity;
m_acceleration(joint_num) = std::fabs(acceleration);
m_jointNames[joint_num] = joint->name;
ROS_INFO("sns_ik: Using joint %s lb: %.3f, ub: %.3f, v: %.3f, a: %.3f", joint->name.c_str(),
m_lower_bounds(joint_num), m_upper_bounds(joint_num), m_velocity(joint_num), m_acceleration(joint_num));
joint_num++;
}
}
initialize();
}
bool treeToUrdfModel(const KDL::Tree& tree, const std::string & robot_name, urdf::ModelInterface& robot_model)
{
robot_model.clear();
robot_model.name_ = robot_name;
//Add all links
KDL::SegmentMap::iterator seg;
KDL::SegmentMap segs;
KDL::SegmentMap::const_iterator root_seg;
root_seg = tree.getRootSegment();
segs = tree.getSegments();
for( seg = segs.begin(); seg != segs.end(); seg++ ) {
if (robot_model.getLink(seg->first))
{
std::cerr << "[ERR] link " << seg->first << " is not unique." << std::endl;
robot_model.clear();
return false;
}
else
{
urdf::LinkPtr link;
resetPtr(link, new urdf::Link);
//add name
link->name = seg->first;
//insert link
robot_model.links_.insert(make_pair(seg->first,link));
std::cerr << "[DEBUG] successfully added a new link " << link->name << std::endl;
}
//inserting joint
//The fake root segment has no joint to add
if( seg->first != root_seg->first ) {
KDL::Joint jnt;
jnt = GetTreeElementSegment(seg->second).getJoint();
if (robot_model.getJoint(jnt.getName()))
{
std::cerr << "[ERR] joint " << jnt.getName() << " is not unique." << std::endl;
robot_model.clear();
return false;
}
else
{
urdf::JointPtr joint;
urdf::LinkPtr link = robot_model.links_[seg->first];
//This variable will be set by toUrdf
KDL::Frame H_new_old_successor;
KDL::Frame H_new_old_predecessor = getH_new_old(GetTreeElementSegment(GetTreeElementParent(seg->second)->second));
urdf::resetPtr(joint, new urdf::Joint());
//convert joint
*joint = toUrdf(jnt, GetTreeElementSegment(seg->second).getFrameToTip(),H_new_old_predecessor,H_new_old_successor);
//insert parent
joint->parent_link_name = GetTreeElementParent(seg->second)->first;
//insert child
joint->child_link_name = seg->first;
//insert joint
robot_model.joints_.insert(make_pair(seg->first,joint));
std::cerr << "[DEBUG] successfully added a new joint" << jnt.getName() << std::endl;
//add inertial, taking in account an eventual change in the link frame
resetPtr(link->inertial, new urdf::Inertial());
*(link->inertial) = toUrdf(H_new_old_successor * GetTreeElementSegment(seg->second).getInertia());
}
}
}
// every link has children links and joints, but no parents, so we create a
// local convenience data structure for keeping child->parent relations
std::map<std::string, std::string> parent_link_tree;
parent_link_tree.clear();
// building tree: name mapping
//try
//{
robot_model.initTree(parent_link_tree);
//}
/*
catch(ParseError &e)
{
logError("Failed to build tree: %s", e.what());
robot_model.clear();
return false;
}*/
// find the root link
//try
//{
robot_model.initRoot(parent_link_tree);
//}
/*
catch(ParseError &e)
{
logError("Failed to find root link: %s", e.what());
robot_model.reset();
return false;
}
*/
return true;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "leg_kinematics");
KDL::Tree tree;
KDL::Chain chain;
ros::NodeHandle node;
KDL::ChainFkSolverPos_recursive* fk_solver;
KDL::HP_ChainIkSolverPos_NR_JL *ik_solver_pos;
KDL::ChainIkSolverVel_pinv* ik_solver_vel;
std::string robot_desc_string;
node.param("robot_description", robot_desc_string, std::string("robot_description"));
if (!kdl_parser::treeFromString(robot_desc_string, tree)) {
ROS_ERROR("Failed to construct kdl tree");
return false;
}
if (!tree.getChain("base_link", "tibia_foot_r1", chain)) {
ROS_ERROR("Failed to construct kdl chain");
return false;
}
ROS_INFO("Construct kdl chain");
// unsigned int nj = chain.getNrOfJoints();
// unsigned int js = chain.getNrOfSegments();
// std_msgs::String msg;
// std::stringstream ss;
// ss << "# J: " << nj << " # S: " << js;
// msg.data = ss.str();
// ROS_INFO("Construct kdl tree");
// ROS_INFO("%s", msg.data.c_str()) ;
fk_solver = new KDL::ChainFkSolverPos_recursive(chain);
ik_solver_vel = new KDL::ChainIkSolverVel_pinv(chain);
// Eigen::MatrixXd matrix_Mx = Eigen::MatrixXd::Identity(6,6);
// matrix_Mx(3,3) = 0; matrix_Mx(4,4) = 0; matrix_Mx(5,5) = 0;
// ik_solver_vel -> setWeightTS(matrix_Mx);
KDL::JntArray joint_min(chain.getNrOfJoints());
KDL::JntArray joint_max(chain.getNrOfJoints());
joint_min(0) = -1.57;
joint_min(1) = -1.57;
joint_min(2) = -1.57;
joint_max (0) = 1.57;
joint_max (1) = 1.57;
joint_max (2) = 1.57;
ik_solver_pos = new KDL::HP_ChainIkSolverPos_NR_JL (chain, joint_min, joint_max,
*fk_solver, *ik_solver_vel, 20, 0.0001);
KDL::JntArray q_init(chain.getNrOfJoints());
q_init (0) = 0;
q_init (1) = 0;
q_init (2) = 0;
KDL::JntArray q_out(chain.getNrOfJoints());
// KDL::Segment my_seg = chain.getSegment(3);
// KDL::Frame my_fr;
//
// if (fk_solver.JntToCart(q_init, my_fr) >= 0){
//
// std_msgs::String msg;
// std::stringstream ss;
// ss << "# 0: " << my_fr.p[0] << " # 1: " << my_fr.p[1] << " # 2: " << my_fr.p[2];
// msg.data = ss.str();
// ROS_INFO("Construct kdl tree");
// ROS_INFO("%s", msg.data.c_str()) ;
// }
double x = 0.16509, y = -0.18567, z = 0.053603; //0.16509; -0.18567; 0.053603
KDL::Frame p_in (KDL::Vector(0.12291, -0.085841, -0.16766));
int ik_valid = ik_solver_pos -> CartToJnt(q_init, p_in, q_out);
if (ik_valid >= 0) {
ROS_INFO("\nJoint 1: %f\nJoint 2: %f\nJoint 3: %f\n", q_out(0),q_out(1),q_out(2));
}
else {
ROS_ERROR("IK not found");
}
return 0;
}
bool ik_solve(kinematics_msgs::GetPositionIK::Request &req,
kinematics_msgs::GetPositionIK::Response &res )
{
ROS_INFO("get_ik_service has been called!");
if(req.ik_request.ik_link_name.length() == 0)
my_tree.getChain("base_link","arm_7_link", chain);
else
my_tree.getChain("base_link",req.ik_request.ik_link_name, chain);
unsigned int nj = chain.getNrOfJoints();
JntArray q_min(nj);
JntArray q_max(nj);
//ToDo: get joint limits from robot_description on parameter_server or use /cob_arm_kinematics/get_ik_solver_info!!!
for(int i = 0; i < nj; i+=2)
{
q_min(i) =-2.9670; //adjusted due to cob_description/lbr.urdf.xacro
q_max(i) = 2.9670;
}
for(int i = 1; i < nj; i+=2)
{
q_min(i) =-2.0943951; //adjusted due to cob_description/lbr.urdf.xacro
q_max(i) = 2.0943951;
}
ChainFkSolverPos_recursive fksolver1(chain);//Forward position solver
ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver
ChainIkSolverPos_NR_JL iksolverpos(chain, q_min, q_max, fksolver1,iksolver1v,1000,1e-6);//Maximum 100 iterations, stop at accuracy 1e-6
JntArray q(nj);
JntArray q_init(nj);
for(int i = 0; i < nj; i++)
q_init(i) = req.ik_request.ik_seed_state.joint_state.position[i];
Frame F_dest;
Frame F_ist;
fksolver1.JntToCart(q_init, F_ist);
tf::PoseMsgToKDL(req.ik_request.pose_stamped.pose, F_dest);
std::cout << "Getting Goal\n";
std::cout << F_dest <<"\n";
std::cout << "Calculated Position out of Seed-Configuration:\n";
std::cout << F_ist <<"\n";
//uhr-fm: here comes the actual IK-solver-call -> could be replaced by analytical-IK-solver (cob)
int ret = iksolverpos.CartToJnt(q_init,F_dest,q);
//res.solution.joint_state.name = req.ik_request.ik_seed_state.joint_state.name;
res.solution.joint_state.name.resize(nj);
res.solution.joint_state.name[0]="arm_1_joint";
res.solution.joint_state.name[1]="arm_2_joint";
res.solution.joint_state.name[2]="arm_3_joint";
res.solution.joint_state.name[3]="arm_4_joint";
res.solution.joint_state.name[4]="arm_5_joint";
res.solution.joint_state.name[5]="arm_6_joint";
res.solution.joint_state.name[6]="arm_7_joint";
res.solution.joint_state.position.resize(nj);
res.solution.joint_state.velocity.resize(nj);
res.solution.joint_state.effort.resize(nj);
if(ret < 0)
{
//res.error_code.val = 0;
res.error_code.val = res.error_code.NO_IK_SOLUTION;
ROS_INFO("Inverse Kinematic found no solution");
std::cout << "RET: " << ret << std::endl;
for(int i = 0; i < nj; i++)
{
res.solution.joint_state.position[i] = q_init(i);
res.solution.joint_state.velocity[i] = 0.0;
res.solution.joint_state.effort[i] = 0.0;
}
}
else
{
ROS_INFO("Inverse Kinematic found a solution");
//res.error_code.val = 1;
res.error_code.val = res.error_code.SUCCESS;
for(int i = 0; i < nj; i++)
{
res.solution.joint_state.position[i] = q(i);
res.solution.joint_state.velocity[i] = 0.0;
res.solution.joint_state.effort[i] = 0.0;
}
}
//std::cout << "q_init\n";
ROS_INFO("q_init: %f %f %f %f %f %f %f", q_init(0), q_init(1), q_init(2), q_init(3), q_init(4), q_init(5), q_init(6));
ROS_INFO("q_out: %f %f %f %f %f %f %f", q(0), q(1), q(2), q(3), q(4), q(5), q(6));
//std::cout << "Solved with " << ret << " as return\n";
//std::cout << q(0) << " " << q(1) << " " << q(2) << " " << q(3) << " " << q(4) << " " << q(5) << " " << q(6) << "\n";
return true;
}