void RobotAlgos::Test(void)
{
//Definition of a kinematic chain & add segments to the chain
KDL::Chain chain;
chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,1.020))));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.480))));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.645))));
chain.addSegment(Segment(Joint(Joint::RotZ)));
chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.120))));
chain.addSegment(Segment(Joint(Joint::RotZ)));
// Create solver based on kinematic chain
ChainFkSolverPos_recursive fksolver = ChainFkSolverPos_recursive(chain);
// Create joint array
unsigned int nj = chain.getNrOfJoints();
KDL::JntArray jointpositions = JntArray(nj);
// Assign some values to the joint positions
for(unsigned int i=0;i<nj;i++){
float myinput;
printf ("Enter the position of joint %i: ",i);
scanf ("%e",&myinput);
jointpositions(i)=(double)myinput;
}
// Create the frame that will contain the results
KDL::Frame cartpos;
// Calculate forward position kinematics
int kinematics_status;
kinematics_status = fksolver.JntToCart(jointpositions,cartpos);
if(kinematics_status>=0){
std::cout << cartpos <<std::endl;
printf("%s \n","Succes, thanks KDL!");
}else{
printf("%s \n","Error: could not calculate forward kinematics :(");
}
//Creation of the solvers:
ChainFkSolverPos_recursive fksolver1(chain);//Forward position solver
ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver
ChainIkSolverPos_NR iksolver1(chain,fksolver1,iksolver1v,100,1e-6);//Maximum 100 iterations, stop at accuracy 1e-6
//Creation of jntarrays:
JntArray result(chain.getNrOfJoints());
JntArray q_init(chain.getNrOfJoints());
//Set destination frame
Frame F_dest=cartpos;
iksolver1.CartToJnt(q_init,F_dest,result);
for(unsigned int i=0;i<nj;i++){
printf ("Axle %i: %f \n",i,result(i));
}
}
void leatherman::printKDLChain(const KDL::Chain &c, std::string text)
{
ROS_INFO("[%s] # segments: %d # joints: %d", text.c_str(), c.getNrOfSegments(), c.getNrOfJoints());
double r,p,y,jnt_pos = 0;
for(size_t j = 0; j < c.getNrOfSegments(); ++j)
{
c.getSegment(j).pose(jnt_pos).M.GetRPY(r,p,y);
ROS_INFO("[%s] [%2d] segment: %21s xyz: %0.3f %0.3f %0.3f rpy: %0.3f %0.3f %0.3f",
text.c_str(), int(j),
c.getSegment(j).getName().c_str(),
c.getSegment(j).pose(jnt_pos).p.x(),
c.getSegment(j).pose(jnt_pos).p.y(),
c.getSegment(j).pose(jnt_pos).p.z(),
r,p,y);
c.getSegment(j).getJoint().pose(jnt_pos).M.GetRPY(r,p,y);
ROS_INFO("[%s] joint: %21s xyz: %0.3f %0.3f %0.3f rpy: %0.3f %0.3f %0.3f type: %s",
text.c_str(),
c.getSegment(j).getJoint().getName().c_str(),
c.getSegment(j).getJoint().pose(jnt_pos).p.x(),
c.getSegment(j).getJoint().pose(jnt_pos).p.y(),
c.getSegment(j).getJoint().pose(jnt_pos).p.z(),
r,p,y,
c.getSegment(j).getJoint().getTypeName().c_str());
}
}
// Get Joint Limits from an URDF model
void getJointLimitsFromModel(const urdf::Model& model,
std::vector<double> &q_min,
std::vector<double> &q_max,
KDL::Chain &kdlArmChain
)
{
boost::shared_ptr<const urdf::Joint> joint;
for(unsigned int i=0; i< kdlArmChain.getNrOfJoints(); ++i)
{
if (kdlArmChain.getSegment(i).getJoint().getType() != KDL::Joint::None)
{
joint = model.getJoint(kdlArmChain.getSegment(i).getJoint().getName());
if ( joint->type != urdf::Joint::CONTINUOUS )
{
q_min.at(i) = joint->limits->lower;
q_max.at(i) = joint->limits->upper;
}
else
{
q_min.at(i) = -3.14/2.0;
q_max.at(i) = 3.14/2.0;
}
}
}
}
void getKDLChainInfo(kinematics_msgs::KinematicSolverInfo &chain_info)
{
unsigned int nj = chain.getNrOfJoints();
unsigned int nl = chain.getNrOfSegments();
ROS_DEBUG("nj: %d", nj);
ROS_DEBUG("nl: %d", nl);
//---setting up response
//joint_names
for(unsigned int i=0; i<nj; i++)
{
ROS_DEBUG("joint_name[%d]: %s", i, chain.getSegment(i).getJoint().getName().c_str());
chain_info.joint_names.push_back(chain.getSegment(i).getJoint().getName());
}
//limits
//joint limits are only saved in KDL::ChainIkSolverPos_NR_JL iksolverpos -> ik_solve().....but this is not visible here!
/*for(unsigned int i=0; i<nj; i++)
{
chain_info.limits[i].joint_name=chain.getSegment(i).getJoint().getName();
chain_info.limits[i].has_position_limits=
chain_info.limits[i].min_position=
chain_info.limits[i].max_position=
chain_info.limits[i].has_velocity_limits=
chain_info.limits[i].max_velocity=
chain_info.limits[i].has_acceleration_limits=
chain_info.limits[i].max_acceleration=
}*/
//link_names
for(unsigned int i=0; i<nl; i++)
{
chain_info.link_names.push_back(chain.getSegment(i).getName());
}
}
TEST_F(PR2IKTest, SingleRowRotation)
{
YAML::Node node = YAML::LoadFile("pr2_left_arm_scope.yaml");
ASSERT_NO_THROW(node.as< giskard_core::ScopeSpec >());
giskard_core::ScopeSpec scope_spec = node.as<giskard_core::ScopeSpec>();
ASSERT_NO_THROW(giskard_core::generate(scope_spec));
giskard_core::Scope scope = giskard_core::generate(scope_spec);
ASSERT_TRUE(scope.has_double_expression("pr2_rot_x"));
KDL::Expression<double>::Ptr exp = scope.find_double_expression("pr2_rot_x");
ASSERT_TRUE(exp.get());
std::string base = "base_link";
std::string tip = "l_wrist_roll_link";
KDL::Chain chain;
ASSERT_TRUE(tree.getChain(base, tip, chain));
ASSERT_EQ(chain.getNrOfJoints(), exp->number_of_derivatives());
boost::shared_ptr<KDL::ChainJntToJacSolver> jac_solver;
jac_solver = boost::shared_ptr<KDL::ChainJntToJacSolver>(
new KDL::ChainJntToJacSolver(chain));
for(int i=-11; i<12; ++i)
{
std::vector<double> exp_in;
KDL::JntArray solver_in(exp->number_of_derivatives());
for(size_t j=0; j<exp->number_of_derivatives(); ++j)
{
double value = 0.1*i;
exp_in.push_back(value);
solver_in(j) = value;
}
exp->setInputValues(exp_in);
exp->value();
KDL::Jacobian solver_jac(chain.getNrOfJoints());
ASSERT_GE(jac_solver->JntToJac(solver_in, solver_jac), 0.0);
for (size_t j=0; j<chain.getNrOfJoints(); ++j)
EXPECT_NEAR(solver_jac(3,j), exp->derivative(j), KDL::epsilon);
}
}
ChainKinematics::ChainKinematics(const KDL::Chain chain, const double lambda) :
kinChain_(chain),
Njnt_(chain.getNrOfJoints()),
Nsegment_(chain.getNrOfSegments()) {
initialize(lambda);
}
KDL::Wrenches idynChainGet_usingKDL_aux(iCub::iDyn::iDynChain & idynChain, iCub::iDyn::iDynInvSensor & idynSensor,yarp::sig::Vector & ddp0)
{
yarp::sig::Vector q,dq,ddq;
q = idynChain.getAng();
dq = idynChain.getDAng();
ddq = idynChain.getD2Ang();
KDL::Chain kdlChain;
std::vector<std::string> la_joints;
la_joints.push_back("left_shoulder_pitch");
la_joints.push_back("left_shoulder_roll");
la_joints.push_back("left_arm_ft_sensor");
la_joints.push_back("left_shoulder_yaw");
la_joints.push_back("left_elbow");
la_joints.push_back("left_wrist_prosup");
la_joints.push_back("left_wrist_pitch");
la_joints.push_back("left_wrist_yaw");
idynSensorChain2kdlChain(idynChain,idynSensor,kdlChain,la_joints,la_joints);
std::cout << kdlChain << std::endl;
int nj = idynChain.getN();
//cout << "idynChainGet_usingKDL_aux with sensor" << " nrJoints " << kdlChain.getNrOfJoints() << " nrsegments " << kdlChain.getNrOfSegments() << endl;
assert(nj==kdlChain.getNrOfJoints());
assert(nj+1==kdlChain.getNrOfSegments());
KDL::JntArray jointpositions = KDL::JntArray(nj);
KDL::JntArray jointvel = KDL::JntArray(nj);
KDL::JntArray jointacc = KDL::JntArray(nj);
KDL::JntArray torques = KDL::JntArray(nj);
for(unsigned int i=0;i<nj;i++){
jointpositions(i)=q[i];
jointvel(i) = dq[i];
jointacc(i) = ddq[i];
}
KDL::Wrenches f_ext(nj+1);
KDL::Wrenches f_int(nj+1);
KDL::Vector grav_kdl;
idynVector2kdlVector(idynChain.getH0().submatrix(0,2,0,2).transposed()*ddp0,grav_kdl);
KDL::ChainIdSolver_RNE_IW neSolver = KDL::ChainIdSolver_RNE_IW(kdlChain,-grav_kdl);
int ret = neSolver.CartToJnt_and_internal_wrenches(jointpositions,jointvel,jointacc,f_ext,torques,f_int);
assert(ret >= 0);
return f_int;
}
TEST_F(PR2IKTest, SingleExpression)
{
YAML::Node node = YAML::LoadFile("pr2_left_arm_single_expression.yaml");
ASSERT_NO_THROW(node.as<giskard_core::FrameSpecPtr>());
giskard_core::FrameSpecPtr spec = node.as<giskard_core::FrameSpecPtr>();
ASSERT_NO_THROW(spec->get_expression(giskard_core::Scope()));
KDL::Expression<KDL::Frame>::Ptr exp = spec->get_expression(giskard_core::Scope());
ASSERT_TRUE(exp.get());
std::string base = "torso_lift_link";
std::string tip = "l_wrist_roll_link";
KDL::Chain chain;
ASSERT_TRUE(tree.getChain(base, tip, chain));
ASSERT_EQ(chain.getNrOfJoints(), exp->number_of_derivatives());
boost::shared_ptr<KDL::ChainJntToJacSolver> jac_solver;
jac_solver = boost::shared_ptr<KDL::ChainJntToJacSolver>(
new KDL::ChainJntToJacSolver(chain));
for(int i=-11; i<12; ++i)
{
std::vector<double> exp_in;
KDL::JntArray solver_in(exp->number_of_derivatives());
for(size_t j=0; j<exp->number_of_derivatives(); ++j)
{
double value = 0.1*i;
exp_in.push_back(value);
solver_in(j) = value;
}
exp->setInputValues(exp_in);
exp->value();
KDL::Jacobian exp_jac(exp->number_of_derivatives());
for(size_t j=0; j<exp_jac.columns(); ++j)
exp_jac.setColumn(j, exp->derivative(j));
KDL::Jacobian solver_jac(chain.getNrOfJoints());
ASSERT_GE(jac_solver->JntToJac(solver_in, solver_jac), 0.0);
EXPECT_TRUE(KDL::Equal(solver_jac, exp_jac));
}
}
void ArmKinematics::initInternals(const KDL::Chain& chain)
{
dof_ = chain.getNrOfJoints();
q_tmp_.resize(dof_);
deleteInternals();
fk_solver_ = new KDL::ChainFkSolverPos_recursive(chain);
ik_solver_ = new KDL::ChainIkSolverVel_wdls(chain);
}
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());
}
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;
}
bool fk_solve_TCP(kinematics_msgs::GetPositionFK::Request &req,
kinematics_msgs::GetPositionFK::Response &res )
{
ROS_INFO("[TESTING]: get_fk_TCP_service has been called!");
unsigned int nj = chain.getNrOfJoints();
ChainFkSolverPos_recursive fksolver1(chain);//Forward position solver
JntArray conf(nj);
geometry_msgs::PoseStamped pose;
tf::Stamped<tf::Pose> tf_pose;
for(int i = 0; i < nj; i++)
conf(i) = req.robot_state.joint_state.position[i];
Frame F_ist;
res.pose_stamped.resize(1);
res.fk_link_names.resize(1);
if(fksolver1.JntToCart(conf, F_ist) >= 0)
{
std::cout << "Calculated Position out of Configuration:\n";
std::cout << F_ist <<"\n";
//TODO: fill out response!!!
tf_pose.frame_id_ = "base_link";//root_name_;
tf_pose.stamp_ = ros::Time();
tf::PoseKDLToTF(F_ist,tf_pose);
try
{
//tf_.transformPose(req.header.frame_id,tf_pose,tf_pose);
}
catch(...)
{
ROS_ERROR("Could not transform FK pose to frame: %s",req.header.frame_id.c_str());
res.error_code.val = res.error_code.FRAME_TRANSFORM_FAILURE;
return false;
}
tf::poseStampedTFToMsg(tf_pose,pose);
res.pose_stamped[0] = pose;
res.fk_link_names[0] = "arm_7_link";
res.error_code.val = res.error_code.SUCCESS;
}
else
{
ROS_ERROR("Could not compute FK for arm_7_link");
res.error_code.val = res.error_code.NO_FK_SOLUTION;
}
return true;
}
VirtualForcePublisher()
{
ros::NodeHandle n_tilde("~");
ros::NodeHandle n;
// subscribe to joint state
joint_state_sub_ = n.subscribe("joint_states", 1, &VirtualForcePublisher::callbackJointState, this);
wrench_stamped_pub_ = n.advertise<geometry_msgs::WrenchStamped>("wrench", 1);
// set publish frequency
double publish_freq;
n_tilde.param("publish_frequency", publish_freq, 50.0);
publish_interval_ = ros::Duration(1.0/std::max(publish_freq,1.0));
//set time constant of low pass filter
n_tilde.param("time_constant", t_const_, 0.3);
// set root and tip
n_tilde.param("root", root, std::string("torso_lift_link"));
n_tilde.param("tip", tip, std::string("l_gripper_tool_frame"));
// load robot model
urdf::Model robot_model;
robot_model.initParam("robot_description");
KDL::Tree kdl_tree;
kdl_parser::treeFromUrdfModel(robot_model, kdl_tree);
kdl_tree.getChain(root, tip, chain_);
jnt_to_jac_solver_.reset(new KDL::ChainJntToJacSolver(chain_));
jnt_pos_.resize(chain_.getNrOfJoints());
jacobian_.resize(chain_.getNrOfJoints());
for (size_t i=0; i<chain_.getNrOfSegments(); i++) {
if (chain_.getSegment(i).getJoint().getType() != KDL::Joint::None) {
std::cerr << "kdl_chain(" << i << ") " << chain_.getSegment(i).getJoint().getName().c_str() << std::endl;
}
}
}
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;
}
void controllerStateCallback(const pr2_controllers_msgs::JointTrajectoryControllerState::ConstPtr& msg)
{
unsigned int nj = chain.getNrOfJoints();
JntArray q(7);
std::cout << "Numbers of joints " << nj << "\n";
for(int i = 0; i < 7; i++)
{
q(i) = msg->actual.positions[i];
}
std::cout << q(0) << " " << q(1) << " " << q(2) << " " << q(3) << " " << q(4) << " " << q(5) << " " << q(6) << "\n";
Frame F_ist;
fksolver1->JntToCart(q, F_ist);
std::cout << F_ist <<"\n";
}
void FingerKinematics::initialise(KDL::Chain &chain,const std::string name){
this->name = name;
for(std::size_t i = 0; i < chain.segments.size();i++){
joint_names.push_back(chain.segments[i].getJoint().getName());
}
ik_solver_vel_wdls = new KDL::ChainIkSolverVel_wdls(chain, 0.001, 5);
ik_solver_vel_wdls->setLambda(0.01);
Eigen::MatrixXd TS; TS.resize(6,6); TS.setIdentity(); TS(3,3) = 0; TS(4,4) = 0; TS(5,5) = 0;
ik_solver_vel_wdls->setWeightTS(TS);
fk_solver_pos = new KDL::ChainFkSolverPos_recursive(chain);
ik_solver_pos_NR = new KDL::ChainIkSolverPos_NR(chain,*fk_solver_pos,*ik_solver_vel_wdls);
num_joints = chain.getNrOfJoints();
q.resize(num_joints);
q.data.setZero();
q_out = q;
}
void controllerStateCallback(const sensor_msgs::JointState::ConstPtr& msg)
{
unsigned int nj = chain.getNrOfJoints();
std::vector<std::string> names = msg->name;
std::vector<double> positions = msg->position;
JntArray q = parseJointStates(names,positions);
std::cout << "Joints: " << q(0) << " " << q(1) << " " << q(2) << " " << q(3) << " " << q(4) << " " << q(5) << " " << q(6) << "\n";
JntArray q_out(7);
Frame F_ist;
fksolver1->JntToCart(q, F_ist);
std::cout << F_ist <<"\n";
int ret = iksolver1v->CartToJnt(q, getTwist(F_ist), q_out);
if(ret >= 0)
{
sendVel(q, q_out);
std::cout << q_out(0) << " " << q_out(1) << " " << q_out(2) << " " << q_out(3) << " " << q_out(4) << " " << q_out(5) << " " << q_out(6) << "\n";
}
else
std::cout << "Something went wrong" << "\n";
}
void kdl_urdf_tools::joint_state_from_kdl_chain(
const KDL::Chain &kdl_chain,
sensor_msgs::JointState &joint_state)
{
// Construct blank joint state message
joint_state = sensor_msgs::JointState();
// Add joint names
for(std::vector<KDL::Segment>::const_iterator it=kdl_chain.segments.begin();
it != kdl_chain.segments.end();
it++)
{
joint_state.name.push_back(it->getJoint().getName());
}
// Get the #DOF
unsigned int n_dof = kdl_chain.getNrOfJoints();
// Resize joint vectors
joint_state.position.resize(n_dof);
joint_state.velocity.resize(n_dof);
joint_state.effort.resize(n_dof);
}
int main()
{
using namespace KDL;
//Definition of kinematic chain
KDL::Tree youBotTree;
//note that it seems youbot_arm.urdf and youbot.urdf use different values.
//parser's assumption is that it return joints which are not of type None.
if (!kdl_parser::treeFromFile("/home/azamat/programming/ros-diamondback/youbot-ros-pkg/youbot_common/youbot_description/robots/youbot.urdf", youBotTree))
{
std::cout << "Failed to construct kdl tree" << std::endl;
return false;
}
// else
// {
// std::cout << "succeeded " << youBotTree.getNrOfJoints()<< std::endl;
// std::cout << "succeeded " << youBotTree.getNrOfSegments()<< std::endl;
// }
KDL::Chain chain;
youBotTree.getChain("arm_link_0","arm_link_5",chain);
unsigned int numberOfJoints = chain.getNrOfJoints();
unsigned int numberOfLinks = chain.getNrOfSegments();
// std::cout << "number of chain links " << numberOfLinks << std::endl;
// std::cout << "number of chain joints " << numberOfJoints << std::endl;
//~Definition of kinematic chain
//Definition of constraints and external disturbances
//--------------------------------------------------------------------------------------//
//Constraint force matrix at the end-effector
//What is the convention for the spatial force matrix; is it the same as in thesis?
//NOTE AZAMAT: Constraint are also defined in local reference frame?!
unsigned int numberOfConstraints = 2;
Twist constraintForce;
Twists constraintForces;
for (unsigned int i = 0; i < numberOfJoints; i++)
{
SetToZero(constraintForce);
constraintForces.push_back(constraintForce);
}
constraintForces[0].vel[0] = 0;
constraintForces[1].vel[1] = 0;
constraintForces[2].vel[2] = 0;
#ifdef X_CONSTRAINT_SET
constraintForces[0].vel[0] = 1;
#endif //~X_CONSTRAINT_SET
#ifdef Y_CONSTRAINT_SET
constraintForces[1].vel[1] = 1;
#endif //~Y_CONSTRAINT_SET
#ifdef Z_CONSTRAINT_SET
constraintForces[2].vel[2] = 1;
#endif //~Z_CONSTRAINT_SET
//Acceleration energy and constraint matrix at the end-effector
Jacobian alpha(numberOfConstraints);
JntArray betha(numberOfConstraints); //set to zero
JntArray bethaControl(numberOfConstraints);
for (unsigned int i = 0; i < numberOfConstraints; i++)
{
alpha.setColumn(i, constraintForces[i]);
betha(i) = 0.0;
bethaControl(i) = 0.0;
}
//arm root acceleration
Vector linearAcc(0.0, 0.0, 9.8); //gravitational acceleration along Z
Vector angularAcc(0.0, 0.0, 0.0);
Twist twist0(linearAcc, angularAcc);
//external forces on the arm
Wrench externalNetForce;
Wrenches externalNetForces;
for (unsigned int i = 0; i < numberOfLinks; i++)
{
externalNetForces.push_back(externalNetForce);
}
//~Definition of constraints and external disturbances
//Definition of solver and initial configuration
//-------------------------------------------------------------------------------------//
ChainIdSolver_Vereshchagin constraintSolver(chain, twist0, numberOfConstraints);
//These arrays of joint values contain actual and desired values
//actual is generated by a solver and integrator
//desired is given by an interpolator
//error is the difference between desired-actual
//0-actual, 1-desired, 2-error, 3-sum of error
unsigned int k = 4;
JntArray jointPoses[k];
JntArray jointRates[k];
JntArray jointAccelerations[k];
JntArray jointTorques[k];
JntArray jointControlTorques[k];
for (unsigned int i = 0; i < k; i++)
{
JntArray jointValues(numberOfJoints);
jointPoses[i] = jointValues;
jointRates[i] = jointValues;
jointAccelerations[i] = jointValues;
jointTorques[i] = jointValues;
jointControlTorques[i] = jointValues;
}
//cartesian space/link values
//0-actual, 1-desire, 2-error, 3-errorsum
Frames cartX[k];
Twists cartXDot[k];
Twists cartXDotDot[k];
Twist accLink;
KDL::Frame frameTemp;
for (unsigned int i = 0; i < k; i++) //i is number of variables (actual, desired, error)
{
for (unsigned int j = 0; j < numberOfLinks; j++) //j is number of links
{
cartX[i].push_back(frameTemp);
cartXDot[i].push_back(accLink);
cartXDotDot[i].push_back(accLink);
}
}
// Initial arm position configuration/constraint, negative in clockwise
JntArray jointInitialPose(numberOfJoints);
jointInitialPose(0) = -M_PI/4.0;
jointInitialPose(1) = M_PI / 6.0;
jointInitialPose(2) = M_PI / 12.0;
jointInitialPose(3) = -M_PI / 3.0;
jointInitialPose(4) = M_PI / 18.0;
//corresponds to x=0.031827 y = -0.007827 z = 0.472972
JntArray jointFinalPose(numberOfJoints);
jointFinalPose(0) = M_PI / 2.0;
jointFinalPose(1) = M_PI / 2.5;
jointFinalPose(2) = 0.0;
jointFinalPose(3) = 0.0;
jointFinalPose(4) = 0.0;
// corresponds to 0.024000 -0.367062 0.242885
for (unsigned int i = 0; i < numberOfJoints; i++)
{
//actual initial
jointPoses[0](i) = jointInitialPose(i);
//desired initial
jointPoses[1](i) = jointInitialPose(i);
}
//test
#ifdef FKPOSE_TEST
ChainFkSolverPos_recursive fksolver(chain);
Frame tempEE;
fksolver.JntToCart(jointPoses[0], tempEE, 5);
std::cout << tempEE << std::endl;
fksolver.JntToCart(jointFinalPose, tempEE, 5);
std::cout << tempEE << std::endl;
#endif //~FKPOSE_TEST
//~Definition of solver and initial configuration
//-------------------------------------------------------------------------------------//
//Definition of process main loop
//-------------------------------------------------------------------------------------//
double taskTimeConstant = 2; //Time required to complete the task move(frameinitialPose, framefinalPose) default T=10.0
double simulationTime = 2.5 * taskTimeConstant;
double timeDelta = 0.001;
double timeToSettle = 0.5;
int status;
double alfa(0.0), beta(0.0), gamma(0.0);
//Controller gain configurations
double ksi[3] = {1.0, 1.0, 1.0}; //damping factor
double Kp[3];
Kp[0] = 240.1475/(timeToSettle*timeToSettle);//0.1475
Kp[1] = 140.0/(timeToSettle*timeToSettle);
Kp[2] = 240.0/(timeToSettle*timeToSettle);
double Kv[3];
Kv[0] = 55.2245*ksi[0]/timeToSettle;//2.2245
Kv[1] = 30.6*ksi[1]/timeToSettle;
Kv[2] = 30.6*ksi[1]/timeToSettle;
double Ki[3] = {0.0, 0.0, 0.0};
double K = 0.005;
//For joint space control without constraints using computed torque
// double ksi[2] = {1.0, 1.0}; //damping factor
double Kpq[numberOfJoints];
Kpq[0] = 2.5/(timeToSettle*timeToSettle);
Kpq[1] = 2.2/(timeToSettle*timeToSettle);
Kpq[2] = 20.1/(timeToSettle*timeToSettle);
Kpq[3] = 40.1/(timeToSettle*timeToSettle);
Kpq[4] = 40.1/(timeToSettle*timeToSettle);
double Kvq[numberOfJoints];
Kvq[0] = .5*ksi[0]/timeToSettle;
Kvq[1] = 1.0*ksi[1]/timeToSettle;
Kvq[2] = 3.0*ksi[1]/timeToSettle;
Kvq[3] = 3.0*ksi[1]/timeToSettle;
Kvq[4] = 3.0*ksi[1]/timeToSettle;
//Interpolator parameters:
// Initial x=0.031827 y = -0.007827 z = 0.472972
// Final 0.024000 -0.367062 0.242885
//cartesian space
double b0_x = 0.031827; //should come from initial joint configuration
double b1_x = 0.0;
double b2_x = ((0.031827 - b0_x)*3.0 / (simulationTime * simulationTime));
double b3_x = -((0.031827 - b0_x)*2.0 / (simulationTime * simulationTime * simulationTime));
double b0_y = -0.007827; //should come from initial joint configuration
double b1_y = 0.0;
double b2_y = ((-0.007827 - b0_y)*3.0 / (simulationTime * simulationTime));
double b3_y = -((-0.007827 - b0_y)*2.0 / (simulationTime * simulationTime * simulationTime));
double b0_z = 0.472972; //should come from initial joint configuration
double b1_z = 0.0;
double b2_z = ((0.242885 - b0_z)*3.0 / (simulationTime * simulationTime));
double b3_z = -((0.242885 - b0_z)*2.0 / (simulationTime * simulationTime * simulationTime));
//joint space
double a0_q0 = jointInitialPose(0);
double a1_q0 = 0.0;
double a2_q0 = ((jointFinalPose(0) - jointInitialPose(0))*3.0 / (simulationTime * simulationTime));
double a3_q0 = -((jointFinalPose(0) - jointInitialPose(0))*2.0 / (simulationTime * simulationTime * simulationTime));
double a0_q1 = jointInitialPose(1);
double a1_q1 = 0.0;
double a2_q1 = ((jointFinalPose(1) - jointInitialPose(1))*3.0 / (simulationTime * simulationTime));
double a3_q1 = -((jointFinalPose(1) - jointInitialPose(1))*2.0 / (simulationTime * simulationTime * simulationTime));
double a0_q2 = jointInitialPose(2);
double a1_q2 = 0.0;
double a2_q2 = ((jointFinalPose(2) - jointInitialPose(2))*3.0 / (simulationTime * simulationTime));
double a3_q2 = -((jointFinalPose(2) - jointInitialPose(2))*2.0 / (simulationTime * simulationTime * simulationTime));
double a0_q3 = jointInitialPose(3);
double a1_q3 = 0.0;
double a2_q3 = ((jointFinalPose(3) - jointInitialPose(3))*3.0 / (simulationTime * simulationTime));
double a3_q3 = -((jointFinalPose(3) - jointInitialPose(3))*2.0 / (simulationTime * simulationTime * simulationTime));
double a0_q4 = jointInitialPose(4);
double a1_q4 = 0.0;
double a2_q4 = ((jointFinalPose(4) - jointInitialPose(4))*3.0 / (simulationTime * simulationTime));
double a3_q4 = -((jointFinalPose(4) - jointInitialPose(4))*2.0 / (simulationTime * simulationTime * simulationTime));
double feedforwardJointTorque0 = 0.0;
double feedforwardJointTorque1 = 0.0;
double feedforwardJointTorque2 = 0.0;
double feedforwardJointTorque3 = 0.0;
double feedforwardJointTorque4 = 0.0;
//---------------------------------------------------------------------------------------//
//Main simulation loop
for (double t = 0.0; t <= simulationTime; t = t + timeDelta)
{
//Interpolation (Desired) q = a0+a1t+a2t^2+a3t^3
cartX[1][4].p[0] = b0_x + b1_x * t + b2_x * t * t + b3_x * t * t*t;
cartX[1][4].p[1] = b0_y + b1_y * t + b2_y * t * t + b3_y * t * t*t;
cartX[1][4].p[2] = b0_z + b1_z * t + b2_z * t * t + b3_z * t * t*t;
cartXDot[1][4].vel[0] = b1_x + 2 * b2_x * t + 3 * b3_x * t*t;
cartXDot[1][4].vel[1] = b1_y + 2 * b2_y * t + 3 * b3_y * t*t;
cartXDot[1][4].vel[2] = b1_z + 2 * b2_z * t + 3 * b3_z * t*t;
cartXDotDot[1][4].vel[0] = 2 * b2_x + 6 * b3_x*t;
cartXDotDot[1][4].vel[1] = 2 * b2_y + 6 * b3_y*t;
cartXDotDot[1][4].vel[2] = 2 * b2_z + 6 * b3_z*t;
#ifdef DESIRED_CARTESIAN_VALUES
printf("%f %f %f %f %f %f %f\n", t, cartX[1][4].p[0], cartX[1][4].p[1], cartX[1][4].p[2], cartXDot[1][4].vel[0], cartXDot[1][4].vel[1], cartXDot[1][4].vel[2]);
#endif //~DESIRED_CARTESIAN_VALUES
jointPoses[1](0) = a0_q0 + a1_q0 * t + a2_q0 * t * t + a3_q0 * t * t*t;
jointPoses[1](1) = a0_q1 + a1_q1 * t + a2_q1 * t * t + a3_q1 * t * t*t;
jointPoses[1](2) = a0_q2 + a1_q2 * t + a2_q2 * t * t + a3_q2 * t * t*t;
jointPoses[1](3) = a0_q3 + a1_q3 * t + a2_q3 * t * t + a3_q3 * t * t*t;
jointPoses[1](4) = a0_q4 + a1_q4 * t + a2_q4 * t * t + a3_q4 * t * t*t;
jointRates[1](0) = a1_q0 + 2 * a2_q0 * t + 3 * a3_q0 * t*t;
jointRates[1](1) = a1_q1 + 2 * a2_q1 * t + 3 * a3_q1 * t*t;
jointRates[1](2) = a1_q2 + 2 * a2_q2 * t + 3 * a3_q2 * t*t;
jointRates[1](3) = a1_q3 + 2 * a2_q3 * t + 3 * a3_q3 * t*t;
jointRates[1](4) = a1_q4 + 2 * a2_q4 * t + 3 * a3_q4 * t*t;
jointAccelerations[1](0) = 2 * a2_q0 + 6 * a3_q0*t;
jointAccelerations[1](1) = 2 * a2_q1 + 6 * a3_q1*t;
jointAccelerations[1](2) = 2 * a2_q2 + 6 * a3_q2*t;
jointAccelerations[1](3) = 2 * a2_q3 + 6 * a3_q3*t;
jointAccelerations[1](4) = 2 * a2_q4 + 6 * a3_q4*t;
#ifdef DESIRED_JOINT_VALUES
printf("%f %f %f %f %f %f %f %f %f %f %f\n", t,jointPoses[1](0), jointPoses[1](1),jointPoses[1](2), jointPoses[1](3), jointPoses[1](4),
jointRates[1](0), jointRates[1](1), jointRates[1](2), jointRates[1](3), jointRates[1](4));
#endif //~DESIRED_JOINT_VALUES
status = constraintSolver.CartToJnt(jointPoses[0], jointRates[0], jointAccelerations[0], alpha, betha, bethaControl, externalNetForces, jointTorques[0], jointControlTorques[0]);
constraintSolver.getLinkCartesianPose(cartX[0]);
constraintSolver.getLinkCartesianVelocity(cartXDot[0]);
constraintSolver.getLinkCartesianAcceleration(cartXDotDot[0]);
cartX[0][4].M.GetEulerZYX(alfa,beta,gamma);
#ifdef ACTUAL_CARTESIAN_VALUES
printf("%f %f %f %f %f %f %f\n", t, cartX[0][4].p[0], cartX[0][4].p[1], cartX[0][4].p[2], alfa, beta, gamma);
#endif //~ACTUAL_CARTESIAN_VALUES
//Integration(robot joint values for rates and poses; actual) at the given "instanteneous" interval for joint position and velocity.
for (unsigned int i = 0; i < numberOfJoints; i++)
{
jointRates[0](i) = jointRates[0](i) + jointAccelerations[0](i) * timeDelta; //Euler Forward
jointPoses[0](i) = jointPoses[0](i) + (jointRates[0](i) - jointAccelerations[0](i) * timeDelta / 2.0) * timeDelta; //Trapezoidal rule
}
#ifdef ACTUAL_JOINT_VALUES
printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\n",
t,jointPoses[0](0), jointPoses[0](1),jointPoses[0](2), jointPoses[0](3), jointPoses[0](4), jointRates[0](0), jointRates[0](1), jointRates[0](2), jointRates[0](3), jointRates[0](4),
jointAccelerations[0](0), jointAccelerations[0](1), jointAccelerations[0](2), jointAccelerations[0](3), jointAccelerations[0](4), jointTorques[0](0), jointTorques[0](1), jointTorques[0](2), jointTorques[0](3), jointTorques[0](4));
#endif //~ACTUAL_JOINT_VALUES
//Error
for (unsigned int i = 0; i < numberOfJoints; i++)
{
jointPoses[2](i) = jointPoses[1](i) - jointPoses[0](i);
jointRates[2](i) = jointRates[1](i) - jointRates[0](i);
jointAccelerations[2](i) = jointAccelerations[1](i) - jointAccelerations[0](i);
// jointPoses[3](i) += timeDelta * jointPoses[2](i);
}
#ifdef JOINT_ERROR_VALUES
printf("%f %f %f %f %f %f\n", t,jointPoses[2](0), jointPoses[2](1),jointPoses[2](2), jointPoses[2](3), jointPoses[2](4));
#endif //~JOINT_ERROR_VALUES
cartX[2][4].p[0] = cartX[1][4].p[0] - cartX[0][4].p[0];
cartX[2][4].p[1] = cartX[1][4].p[1] - cartX[0][4].p[1];
cartX[2][4].p[2] = cartX[1][4].p[2] - cartX[0][4].p[2];
cartXDot[2][4].vel[0] = cartXDot[1][4].vel[0] - cartXDot[0][4].vel[0];
cartXDot[2][4].vel[1] = cartXDot[1][4].vel[1] - cartXDot[0][4].vel[1];
cartXDot[2][4].vel[2] = cartXDot[1][4].vel[2] - cartXDot[0][4].vel[2];
cartXDotDot[2][4].vel[0] = cartXDotDot[1][4].vel[0] - cartXDotDot[0][4].vel[0];
cartXDotDot[2][4].vel[1] = cartXDotDot[1][4].vel[1] - cartXDotDot[0][4].vel[1];
cartXDotDot[2][4].vel[2] = cartXDotDot[1][4].vel[2] - cartXDotDot[0][4].vel[2];
cartX[3][4].p[0] += timeDelta * cartX[2][4].p[0]; //for integral term;
cartX[3][4].p[1] += timeDelta * cartX[2][4].p[1];
cartX[3][4].p[2] += timeDelta * cartX[2][4].p[2];
#ifdef CARTESIAN_ERROR_VALUES
printf("%f %f %f %f %f %f %f\n", t, cartX[2][4].p[0], cartX[2][4].p[1], cartX[2][4].p[2], cartXDot[2][4].vel[0], cartXDot[2][4].vel[1], cartXDot[2][4].vel[2]);
#endif //~CARTESIAN_ERROR_VALUES
//Regulator or controller
//acceleration energy control
betha(0) = alpha(0, 0)*(K * cartXDotDot[2][numberOfLinks-1].vel[0] + (Kv[0]) * cartXDot[2][numberOfLinks-1].vel[0] + (Kp[0]) * cartX[2][numberOfLinks-1].p[0]+ Ki[1] * cartX[3][numberOfLinks-1].p[0]);
betha(1) = alpha(1, 1)*(K * cartXDotDot[2][numberOfLinks-1].vel[1] + (Kv[1]) * cartXDot[2][numberOfLinks-1].vel[1] + (Kp[1]) * cartX[2][numberOfLinks-1].p[1] + Ki[1] * cartX[3][numberOfLinks-1].p[1]);
// priority posture control
// jointControlTorques[0](0) = jointAccelerations[1](0) + (Kpq[0])*jointPoses[2](0) + (Kvq[0])*jointRates[2](0);
// jointControlTorques[0](1) = jointAccelerations[1](1) + (Kpq[1])*jointPoses[2](1) + (Kvq[1])*jointRates[2](1);//computed joint torque control
// jointControlTorques[0](2) = jointAccelerations[1](2) + (Kpq[2])*jointPoses[2](2) + (Kvq[2])*jointRates[2](2);
// jointControlTorques[0](3) = jointAccelerations[1](3) + (Kpq[3])*jointPoses[2](3) + (Kvq[3])*jointRates[2](3);
// jointControlTorques[0](4) = jointAccelerations[1](4) + (Kpq[3])*jointPoses[2](4) + (Kvq[4])*jointRates[2](4);
//priority constraint control
// feedforwardJointTorque0 = jointAccelerations[1](0) + (Kpq[0])*jointPoses[2](0) + (Kvq[0])*jointRates[2](0);
feedforwardJointTorque1 = jointAccelerations[1](1) + (Kpq[1])*jointPoses[2](1) + (Kvq[1])*jointRates[2](1);
feedforwardJointTorque2 = jointAccelerations[1](2) + (Kpq[2])*jointPoses[2](2) + (Kvq[2])*jointRates[2](2);
feedforwardJointTorque3 = jointAccelerations[1](3) + (Kpq[3])*jointPoses[2](3) + (Kvq[3])*jointRates[2](3);
feedforwardJointTorque4 = jointAccelerations[1](4) + (Kpq[4])*jointPoses[2](4) + (Kvq[4])*jointRates[2](4);
// jointTorques[0](0) = jointTorques[0](0) + feedforwardJointTorque0;
jointTorques[0](1) = jointTorques[0](1) + feedforwardJointTorque1;
jointTorques[0](2) = jointTorques[0](2) + feedforwardJointTorque2;
jointTorques[0](3) = jointTorques[0](3) + feedforwardJointTorque3;
jointTorques[0](4) = jointTorques[0](4) + feedforwardJointTorque4;
//For cartesian space control one needs to calculate from the obtained joint space value, new cartesian space poses.
//Then based on the difference of the signal (desired-actual) we define a regulation function (controller)
// this difference should be compensated either by joint torques.
// externalNetForces[numberOfLinks-1].force[0] = ((Kv[0]) * cartXDot[2][numberOfLinks-1].vel[0] + (Kp[0]) * cartX[2][numberOfLinks-1].p[0] );
// externalNetForces[numberOfLinks-1].force[1] = ((Kv[1]) * cartXDot[2][numberOfLinks-1].vel[1] + (Kp[1]) * cartX[2][numberOfLinks-1].p[1] );
externalNetForces[numberOfLinks-1].force[2] = ((Kv[2]) * cartXDot[2][numberOfLinks-1].vel[2] + (Kp[2]) * cartX[2][numberOfLinks-1].p[2] );
}
//~Definition of process main loop
//-------------------------------------------------------------------------------------//
return 0;
}
bool kuka_IK::cartPosInputHandle(RTT::base::PortInterface* portInterface){
input_cartPosPort.read(commandedPose);
#if DEBUG
cout << endl << "Pose.position.x = " << commandedPose.position.x << endl;
cout << "Pose.position.y = " << commandedPose.position.y << endl;
cout << "Pose.position.z = " << commandedPose.position.z << endl;
#endif
// Read out the robot joint position
msr_jntPosPort.read(jntPos);
#if DEBUG
std::cout << " kuka-IK-component.cpp: jntPos" << std::endl;
for(int i = 0; i < 7; i++) std::cout << jntPos[i] << " " ;
#endif
//Do IK and reset velocity profiles
commndedPoseJntPos = std::vector<double>(7,0.0);
#if DEBUG
cout << endl << endl;
cout << "Beginning of Super Debugging" << endl;
geometry_msgs::Pose tmpPose;
cartPosPort.read(tmpPose);
Frame tmpFrame;
tf::PoseMsgToKDL(tmpPose, tmpFrame);
cout << "Frame from Robot" << endl << tmpFrame << endl;
//Debugging Iterative IK
KDL::Chain chain = Chain();
chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Rotation::RotZ(M_PI), Vector(0.0, 0.0, 0.31))));
chain.addSegment(Segment(Joint(Joint::RotY), Frame(Rotation::RotZ(M_PI), Vector(0.0, 0.0, 0.2))));
chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Vector(0.0, 0.0, 0.2))));
chain.addSegment(Segment(Joint(Joint::RotY), Frame(Rotation::RotZ(M_PI), Vector(0.0, 0.0, 0.2))));
chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Vector(0.0, 0.0, 0.19))));
chain.addSegment(Segment(Joint(Joint::RotY), Frame(Rotation::RotZ(M_PI))));
chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Vector(0.0, 0.0, 0.078))));
ChainFkSolverPos_recursive fksolver(chain);
// Create joint array
unsigned int nj = chain.getNrOfJoints();
KDL::JntArray jointpositions = JntArray(nj);
// Assign some values to the joint positions
std::cout << "jntPos: ";
for(unsigned int i=0;i<nj;i++){
jointpositions(i)=jntPos[i];
std::cout << jntPos[i] << " ";
}
std::cout << std::endl;
// Create the frame that will contain the results
KDL::Frame cartpos;
// Calculate forward position kinematics
bool kinematics_status;
kinematics_status = fksolver.JntToCart(jointpositions,cartpos);
if(kinematics_status>=0){
std::cout << cartpos <<std::endl;
printf("%s \n","Success, thanks KDL!");
}else{
printf("%s \n","Error: could not calculate forward kinematics");
std::cout << cartpos <<std::endl;
}
cout << "End of Super Debugging" << endl << endl;
//End of Super Debugging
#endif
//if (! KukaLWR_Kinematics::ikSolverAnalytical7DOF( commandedPose, commndedPoseJntPos) ){
//if (!(KukaLWR_Kinematics::ikSolver(jntPos, commandedPose, commndedPoseJntPos))){
if (!(KukaLWR_Kinematics::ikSolverIterative7DOF(jntPos, commandedPose, commndedPoseJntPos))){
cout << "lastCommandedPose cannot be achieved" << endl;
for(int i = 0; i < 7; i++) std::cout << commndedPoseJntPos[i] << " " ;
std::cout << std::endl;
}
sensor_msgs::JointState tmpJntState;
tmpJntState.position.clear();
for(int i=0; i < 7; i++){
tmpJntState.position.push_back(commndedPoseJntPos[i]);
tmpJntState.velocity.push_back(0.0);
}
output_jntPosPort.write(tmpJntState);
return true;
}
ChainIkSolverPos_LMA::ChainIkSolverPos_LMA(
const KDL::Chain& _chain,
double _eps,
int _maxiter,
double _eps_joints
) :
lastNrOfIter(0),
lastSV(_chain.getNrOfJoints()>6?6:_chain.getNrOfJoints()),
jac(6, _chain.getNrOfJoints()),
grad(_chain.getNrOfJoints()),
display_information(false),
maxiter(_maxiter),
eps(_eps),
eps_joints(_eps_joints),
chain(_chain),
T_base_jointroot(_chain.getNrOfJoints()),
T_base_jointtip(_chain.getNrOfJoints()),
q(_chain.getNrOfJoints()),
A(_chain.getNrOfJoints(), _chain.getNrOfJoints()),
ldlt(_chain.getNrOfJoints()),
svd(6, _chain.getNrOfJoints(),Eigen::ComputeThinU | Eigen::ComputeThinV),
diffq(_chain.getNrOfJoints()),
q_new(_chain.getNrOfJoints()),
original_Aii(_chain.getNrOfJoints()),
use_joint_limits(false)
{
L(0)=1;
L(1)=1;
L(2)=1;
L(3)=0.01;
L(4)=0.01;
L(5)=0.01;
}
ChainIkSolverPos_LMA::ChainIkSolverPos_LMA(
const KDL::Chain& _chain,
const Eigen::Matrix<double,6,1>& _L,
double _eps,
int _maxiter,
double _eps_joints
) :
lastNrOfIter(0),
lastSV(_chain.getNrOfJoints()),
jac(6, _chain.getNrOfJoints()),
grad(_chain.getNrOfJoints()),
display_information(false),
maxiter(_maxiter),
eps(_eps),
eps_joints(_eps_joints),
L(_L.cast<ScalarType>()),
chain(_chain),
T_base_jointroot(_chain.getNrOfJoints()),
T_base_jointtip(_chain.getNrOfJoints()),
q(_chain.getNrOfJoints()),
A(_chain.getNrOfJoints(), _chain.getNrOfJoints()),
tmp(_chain.getNrOfJoints()),
ldlt(_chain.getNrOfJoints()),
svd(6, _chain.getNrOfJoints(),Eigen::ComputeThinU | Eigen::ComputeThinV),
diffq(_chain.getNrOfJoints()),
q_new(_chain.getNrOfJoints()),
original_Aii(_chain.getNrOfJoints()),
use_joint_limits(false)
{}
KukaKDL::KukaKDL(){
segment_map.push_back("base");
segment_map.push_back("00");
segment_map.push_back("01");
segment_map.push_back("02");
segment_map.push_back("03");
segment_map.push_back("04");
segment_map.push_back("05");
segment_map.push_back("06");
segment_map.push_back("07");
KDL::Chain chain;
//joint 0
chain.addSegment(KDL::Segment("base", KDL::Joint(KDL::Joint::None),
KDL::Frame::DH_Craig1989(0.0, ALPHA0, R0, 0.0)
));
//joint 1
chain.addSegment(KDL::Segment("00", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA1, R1, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA1, R1, 0.0).Inverse()*KDL::RigidBodyInertia(M1_KDL,
KDL::Vector(COGX1_KDL, COGY1_KDL, COGZ1_KDL),
KDL::RotationalInertia(XX1_KDL,YY1_KDL,ZZ1_KDL,XY1_KDL,XZ1_KDL,YZ1_KDL))));
//joint 2
chain.addSegment(KDL::Segment("01", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA2, R2, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA2, R2, 0.0).Inverse()*KDL::RigidBodyInertia(M2_KDL,
KDL::Vector(COGX2_KDL, COGY2_KDL, COGZ2_KDL),
KDL::RotationalInertia(XX2_KDL,YY2_KDL,ZZ2_KDL,XY2_KDL,XZ2_KDL,YZ2_KDL))));
//joint 3
chain.addSegment(KDL::Segment("02", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA3, R3, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA3, R3, 0.0).Inverse()*KDL::RigidBodyInertia(M3_KDL,
KDL::Vector(COGX1_KDL, COGY1_KDL, COGZ1_KDL),
KDL::RotationalInertia(XX1_KDL,YY1_KDL,ZZ1_KDL,XY1_KDL,XZ1_KDL,YZ1_KDL))));
//joint 4
chain.addSegment(KDL::Segment("03", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA4, R4, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA4, R4, 0.0).Inverse()*KDL::RigidBodyInertia(M4_KDL,
KDL::Vector(COGX4_KDL, COGY4_KDL, COGZ4_KDL),
KDL::RotationalInertia(XX4_KDL,YY4_KDL,ZZ4_KDL,XY4_KDL,XZ4_KDL,YZ4_KDL))));
//joint 5
chain.addSegment(KDL::Segment("04", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA5, R5, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA5, R5, 0.0).Inverse()*KDL::RigidBodyInertia(M5_KDL,
KDL::Vector(COGX5_KDL, COGY5_KDL, COGZ5_KDL),
KDL::RotationalInertia(XX5_KDL,YY5_KDL,ZZ5_KDL,XY5_KDL,XZ5_KDL,YZ5_KDL))));
//joint 6
chain.addSegment(KDL::Segment("05", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA6, R6, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA6, R6, 0.0).Inverse()*KDL::RigidBodyInertia(M6_KDL,
KDL::Vector(COGX6_KDL, COGY6_KDL, COGZ6_KDL),
KDL::RotationalInertia(XX6_KDL,YY6_KDL,ZZ6_KDL,XY6_KDL,XZ6_KDL,YZ6_KDL))));
//joint 7
chain.addSegment(KDL::Segment("06", KDL::Joint(KDL::Joint::RotZ),
KDL::Frame::DH_Craig1989(0.0, ALPHA7, R7, 0.0),
KDL::Frame::DH_Craig1989(0.0, ALPHA7, R7, 0.0).Inverse()*KDL::RigidBodyInertia(M7_KDL,
KDL::Vector(COGX7_KDL, COGY7_KDL, COGZ7_KDL),
KDL::RotationalInertia(XX7_KDL,YY7_KDL,ZZ7_KDL,XY7_KDL,XZ7_KDL,YZ7_KDL))));
//tool
chain.addSegment(KDL::Segment("07", KDL::Joint(KDL::Joint::None), KDL::Frame::Identity()));
tree.addChain(chain, "root");
treejacsolver = new KDL::TreeJntToJacSolver(tree);
fksolver = new KDL::TreeFkSolverPos_recursive(tree);
fksolvervel = new KDL::ChainFkSolverVel_recursive(chain);
q.resize(chain.getNrOfJoints());
dynModelSolver = new KDL::ChainDynParam(chain,KDL::Vector(0.,0.,-9.81));
qd.resize(chain.getNrOfJoints());
externalWrenchTorque.resize(chain.getNrOfJoints());
massMatrix.resize(chain.getNrOfJoints());
corioCentriTorque.resize(chain.getNrOfJoints());
gravityTorque.resize(chain.getNrOfJoints());
frictionTorque.resize(chain.getNrOfJoints());
actuatedDofs = Eigen::VectorXd::Constant(tree.getNrOfJoints(), 1);
lowerLimits.resize(tree.getNrOfJoints());
lowerLimits << -2.97, -2.10, -2.97, -2.10, -2.97, -2.10, -2.97;
upperLimits.resize(tree.getNrOfJoints());
upperLimits << 2.97, 2.10, 2.97, 2.10, 2.97, 2.10, 2.97;
outdate();
}
bool ik_solve(kinematics_msgs::GetPositionIK::Request &req,
kinematics_msgs::GetPositionIK::Response &res )
{
unsigned int nj = chain.getNrOfJoints();
JntArray q_min(nj);
JntArray q_max(nj);
for(int i = 0; i < nj; i+=2)
{
q_min(i) = -6.0;
q_max(i) = 6.0;
}
for(int i = 1; i < nj; i+=2)
{
q_min(i) = -2.0;
q_max(i) = 2.0;
}
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,100,1e-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;
std::cout << "Calculated Position out of Configuration:\n";
std::cout << F_ist <<"\n";
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.position.resize(nj);
if(ret < 0)
{
res.error_code.val = -1;
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);
}
else
{
ROS_INFO("Inverse Kinematic found a solution");
res.error_code.val = 1;
for(int i = 0; i < nj; i++)
res.solution.joint_state.position[i] = q(i);
}
//std::cout << "q_init\n";
ROS_DEBUG("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_DEBUG("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;
}
int main()
{
Vector Fend(3); Fend.zero();
Vector Muend(Fend);
Vector w0(3); Vector dw0(3); Vector ddp0(3);
w0 = dw0=ddp0=0.0; ddp0[1]=g;
int N = 7;
Vector q(N);
Vector dq(N);
Vector ddq(N);
Random rng;
rng.seed(yarp::os::Time::now());
for(int i=0;i<N-1;i++)
{
q[i] = 0*CTRL_DEG2RAD*rng.uniform();
dq[i] = 0*CTRL_DEG2RAD*rng.uniform();
ddq[i] = 0*CTRL_DEG2RAD*rng.uniform();
}
for(int i=N-1;i<N;i++)
{
q[i] = 0;
dq[i] = 0;
ddq[i] = 1;
}
L5PMDyn threeChain;
iDynInvSensorL5PM threeChainSensor(threeChain.asChain(),"papare",DYNAMIC,iCub::skinDynLib::VERBOSE);
int sensor_link = threeChainSensor.getSensorLink();
q = threeChain.setAng(q);
dq = threeChain.setDAng(dq);
ddq = threeChain.setD2Ang(ddq);
int nj=N;
KDL::JntArray jointpositions = KDL::JntArray(nj);
KDL::JntArray jointvel = KDL::JntArray(nj);
KDL::JntArray jointacc = KDL::JntArray(nj);
KDL::JntArray torques = KDL::JntArray(nj);
for(unsigned int i=0;i<nj;i++){
jointpositions(i)=q[i];
jointvel(i) = dq[i];
jointacc(i) = ddq[i];
}
threeChain.prepareNewtonEuler(DYNAMIC);
threeChain.computeNewtonEuler(w0,dw0,ddp0,Fend,Muend);
threeChainSensor.computeSensorForceMoment();
// then we can retrieve our results...
// forces moments and torques
Matrix F = threeChain.getForces();
Matrix Mu = threeChain.getMoments();
Vector Tau = threeChain.getTorques();
Matrix F_KDL = idynChainGetForces_usingKDL(threeChain,ddp0);
Matrix Mu_KDL = idynChainGetMoments_usingKDL(threeChain,ddp0);
Vector Tau_KDL = idynChainGetTorques_usingKDL(threeChain,ddp0);
Matrix F_KDL_sens = idynChainGetForces_usingKDL(threeChain,threeChainSensor,ddp0);
Matrix Mu_KDL_sens = idynChainGetMoments_usingKDL(threeChain,threeChainSensor,ddp0);
Vector Tau_KDL_sens = idynChainGetTorques_usingKDL(threeChain,threeChainSensor,ddp0);
Matrix p_idyn(3,N),p_kdl_no_sens(3,N),p_kdl_sens(3,N+1);
for(int l=0;l<N;l++)
{
p_idyn.setCol(l,threeChain.getH(l).subcol(0,3,3));
}
KDL::Chain threeChainKDL;
std::vector<std::string> dummy;
std::string dummy_str = "";
for(int l=0;l<N;l++) {
Vector p_kdl;
idynChain2kdlChain(*(threeChain.asChain()),threeChainKDL,dummy,dummy,dummy_str,dummy_str,l+1);
KDL::ChainFkSolverPos_recursive posSolver = KDL::ChainFkSolverPos_recursive(threeChainKDL);
KDL::Frame cartpos;
KDL::JntArray jpos;
jpos.resize(l+1);
for(int p=0;p<jpos.rows();p++) jpos(p) = jointpositions(p);
posSolver.JntToCart(jpos,cartpos);
to_iDyn(cartpos.p,p_kdl);
p_kdl_no_sens.setCol(l,p_kdl);
}
KDL::Chain threeChainKDLsens;
for(int l=0;l<N+1;l++) {
Vector p_kdl;
idynSensorChain2kdlChain(*(threeChain.asChain()),threeChainSensor,threeChainKDLsens,dummy,dummy,dummy_str,dummy_str,l+1);
KDL::ChainFkSolverPos_recursive posSolver = KDL::ChainFkSolverPos_recursive(threeChainKDLsens);
KDL::Frame cartpos;
KDL::JntArray jpos;
if( l <= sensor_link ) {
jpos.resize(l+1);
for(int p=0;p<jpos.rows();p++) jpos(p) = jointpositions(p);
}
//if( l >= sensor_link )
else {
jpos.resize(l);
for(int p=0;p<jpos.rows();p++) jpos(p) = jointpositions(p);
}
cout << "l " << l << " nrJoints " << threeChainKDLsens.getNrOfJoints() << " nrsegments " << threeChainKDLsens.getNrOfSegments() <<" jpos dim " << jpos.rows() << endl;
assert(posSolver.JntToCart(jpos,cartpos) >= 0);
to_iDyn(cartpos.p,p_kdl);
p_kdl_sens.setCol(l,p_kdl);
}
printMatrix("p_idyn",p_idyn);
printMatrix("p_kdl_no_sens",p_kdl_no_sens);
printMatrix("p_kdl_sens",p_kdl_sens);
cout << "~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~`KDL Chain~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~``" << endl << threeChainKDL << endl;
cout << "~~~~~~~~~~~~~~~~~~~~~~~~~~~~KDL Chain sens~~~~~~~~~~~~~~~~~~~~~~~~~~~~`" << endl << threeChainKDLsens << endl;
//printKDLchain("threeChainKDLsens",threeChainKDLsens);
printMatrix("F",F);
printMatrix("F_KDL",F_KDL);
printMatrix("F_KDL_sens",F_KDL_sens);
printMatrix("Mu",Mu);
printMatrix("Mu_KDL",Mu_KDL);
printMatrix("Mu_KDL_sens",Mu_KDL_sens);
printVector("Tau",Tau);
printVector("Tau_KDL",Tau_KDL);
printVector("Tau_KDL_sens",Tau_KDL_sens);
for(int l=0;l<F_KDL.cols();l++)
{
YARP_ASSERT(EQUALISH(F_KDL.getCol(l),F.getCol(l)));
YARP_ASSERT(EQUALISH(F_KDL_sens.getCol(l),F.getCol(l)));
YARP_ASSERT(EQUALISH(Mu_KDL.getCol(l),Mu.getCol(l)));
YARP_ASSERT(EQUALISH(Mu_KDL_sens.getCol(l),Mu.getCol(l)));
}
for(int l=0;l<Tau.size();l++) {
YARP_ASSERT(abs(Tau(l)-Tau_KDL(l))<delta);
YARP_ASSERT(abs(Tau(l)-Tau_KDL_sens(l))<delta);
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "leg_kinematics_pub");
ros::NodeHandle node;
KDL::Tree tree;
KDL::Chain chain;
KDL::ChainFkSolverPos_recursive* fk_solver;
KDL::HP_ChainIkSolverPos_NR_JL* ik_solver_pos;
KDL::ChainIkSolverVel_pinv* ik_solver_vel;
ros::Publisher leg_msg_pub = node.advertise<crab_msgs::LegJointsState>("leg_states", 1);
ros::Publisher joint_msg_pub = node.advertise<sensor_msgs::JointState>("leg_joints_states", 1);
ros::Rate loop_rate(30);
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");
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, 100, 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());
crab_msgs::LegJointsState leg_msg;
sensor_msgs::JointState joint_msg;
int ik_valid;
double x_0 = 0.14208, y_0 = -0.14555, z_0 = -0.11245, x, y, fi; //0.14208; -0.14555; -0.11145
while (ros::ok()){
if (fi > 6.28) fi = 0;
x = x_0 + 0.05 * cos(fi);
y = y_0 + 0.05 * sin(fi);
KDL::Frame p_in (KDL::Vector(x, y, z_0));
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));
for (int i=0; i<3; i++){
leg_msg.joint[i] = q_out(i);
}
leg_msg_pub.publish(leg_msg);
joint_msg.name.push_back("coxa_joint_r1");
joint_msg.position.push_back(q_out(0));
joint_msg.name.push_back("femur_joint_r1");
joint_msg.position.push_back(q_out(1));
joint_msg.name.push_back("tibia_joint_r1");
joint_msg.position.push_back(q_out(2));
joint_msg_pub.publish(joint_msg);
joint_msg.name.clear();
joint_msg.position.clear();
}
else {
ROS_ERROR("IK not found");
}
fi += 0.05;
q_init = q_out;
ros::spinOnce();
loop_rate.sleep();
}
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;
}
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;
}
void callbackJointState(const JointStateConstPtr& state)
{
std::map<std::string, double> joint_name_position;
if (state->name.size() != state->position.size()) {
ROS_ERROR("Robot state publisher received an invalid joint state vector");
return;
}
// determine least recently published joint
ros::Time last_published = ros::Time::now();
for (unsigned int i=0; i<state->name.size(); i++) {
ros::Time t = last_publish_time_[state->name[i]];
last_published = (t < last_published) ? t : last_published;
}
if (state->header.stamp >= last_published + publish_interval_) {
// get joint positions from state message
std::map<std::string, double> joint_positions;
std::map<std::string, double> joint_efforts;
for (unsigned int i=0; i<state->name.size(); i++) {
joint_positions.insert(make_pair(state->name[i], state->position[i]));
joint_efforts.insert(make_pair(state->name[i], state->effort[i]));
}
KDL::JntArray tau;
KDL::Wrench F;
Eigen::Matrix<double,Eigen::Dynamic,6> jac_t;
Eigen::Matrix<double,6,Eigen::Dynamic> jac_t_pseudo_inv;
tf::StampedTransform transform;
KDL::Wrench F_pub;
tf::Vector3 tf_force;
tf::Vector3 tf_torque;
tau.resize(chain_.getNrOfJoints());
//getPositions;
for (size_t i=0, j=0; i<chain_.getNrOfSegments(); i++) {
if (chain_.getSegment(i).getJoint().getType() == KDL::Joint::None)
continue;
// check
std::string joint_name = chain_.getSegment(i).getJoint().getName();
if ( joint_positions.find(joint_name) == joint_positions.end() ) {
ROS_ERROR("Joint '%s' is not found in joint state vector", joint_name.c_str());
}
// set position
jnt_pos_(j) = joint_positions[joint_name];
tau(j) = joint_efforts[joint_name];
j++;
}
jnt_to_jac_solver_->JntToJac(jnt_pos_, jacobian_);
jac_t = jacobian_.data.transpose();
if ( jacobian_.columns() >= jacobian_.rows() ) {
jac_t_pseudo_inv =(jac_t.transpose() * jac_t).inverse() * jac_t.transpose();
} else {
jac_t_pseudo_inv =jac_t.transpose() * ( jac_t * jac_t.transpose() ).inverse();
}
#if 1
{
ROS_INFO("jac_t# jac_t : ");
Eigen::Matrix<double,6,6> mat_i = mat_i = jac_t_pseudo_inv * jac_t;
for (unsigned int i = 0; i < 6; i++) {
std::stringstream ss;
for (unsigned int j=0; j<6; j++)
ss << std::fixed << std::setw(8) << std::setprecision(4) << mat_i(j,i) << " ";
ROS_INFO_STREAM(ss.str());
}
}
#endif
// f = - inv(jt) * effort
for (unsigned int j=0; j<6; j++)
{
F(j) = 0;
for (unsigned int i = 0; i < jnt_pos_.rows(); i++)
{
F(j) += -1 * jac_t_pseudo_inv(j, i) * tau(i);
}
}
//low pass filter
F += (F_pre_ - F) * exp(-1.0 / t_const_);
for (unsigned int j=0; j<6; j++) {
F_pre_(j) = 0;
}
F_pre_ += F;
//tf transformation
tf::vectorKDLToTF(F.force, tf_force);
tf::vectorKDLToTF(F.torque, tf_torque);
try {
listener_.waitForTransform( tip, root, state->header.stamp, ros::Duration(1.0));
listener_.lookupTransform( tip, root, state->header.stamp , transform);
}
catch (tf::TransformException ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
}
for (unsigned int j=0; j<3; j++) {
F_pub.force[j] = transform.getBasis()[j].dot(tf_force);
F_pub.torque[j] = transform.getBasis()[j].dot(tf_torque);
}
geometry_msgs::WrenchStamped msg;
msg.header.stamp = state->header.stamp;
msg.header.frame_id = tip;
// http://code.ros.org/lurker/message/20110107.151127.7177af06.nl.html
//tf::WrenchKDLToMsg(F,msg.wrench);
msg.wrench.force.x = F_pub.force[0];
msg.wrench.force.y = F_pub.force[1];
msg.wrench.force.z = F_pub.force[2];
msg.wrench.torque.x = F_pub.torque[0];
msg.wrench.torque.y = F_pub.torque[1];
msg.wrench.torque.z = F_pub.torque[2];
wrench_stamped_pub_.publish(msg);
{
ROS_INFO("jacobian : ");
for (unsigned int i = 0; i < jnt_pos_.rows(); i++) {
std::stringstream ss;
for (unsigned int j=0; j<6; j++)
ss << std::fixed << std::setw(8) << std::setprecision(4) << jacobian_(j,i) << " ";
ROS_INFO_STREAM(ss.str());
}
ROS_INFO("effort : ");
std::stringstream sstau;
for (unsigned int i = 0; i < tau.rows(); i++) {
sstau << std::fixed << std::setw(8) << std::setprecision(4) << tau(i) << " ";
}
ROS_INFO_STREAM(sstau.str());
ROS_INFO("force : ");
std::stringstream ssf;
for (unsigned int j = 0; j < 6; j++) {
ssf << std::fixed << std::setw(8) << std::setprecision(4) << F(j) << " ";
}
ROS_INFO_STREAM(ssf.str());
}
// store publish time in joint map
for (unsigned int i=0; i<state->name.size(); i++)
last_publish_time_[state->name[i]] = state->header.stamp;
}
}
