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());
}
}
// 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 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());
}
}
IkSolver::IkSolver(const KDL::Chain& chain)
{
const std::string root_name = chain.getSegment(0).getName();
const std::string tip_name = chain.getSegment(chain.getNrOfSegments() - 1).getName();
KDL::Tree tree("root");
tree.addChain(chain, "root");
std::vector<std::string> endpoint_names(1, tip_name);
std::vector<EndpointCoupling> endpoint_couplings(1, Pose);
init(tree, endpoint_names, endpoint_couplings);
}
void getKDLChainInfo(const KDL::Chain &chain,
kinematics_msgs::KinematicSolverInfo &chain_info)
{
int i=0; // segment number
while(i < (int)chain.getNrOfSegments())
{
chain_info.link_names.push_back(chain.getSegment(i).getName());
i++;
}
}
int Kinematics::getKDLSegmentIndex(const std::string &name) {
int i=0;
while (i < (int)chain.getNrOfSegments()) {
if (chain.getSegment(i).getName() == name) {
return i+1;
}
i++;
}
return -1;
}
int ExcavaROBArmKinematics::getKDLSegmentIndex(const std::string &name) {
int i=0;
while (i < (int) arm_chain_.getNrOfSegments()) {
if (arm_chain_.getSegment(i).getName() == name) {
return i + 1;
}
i++;
}
return -1;
}
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());
}
sensor_msgs::JointState init_message(const KDL::Chain &chain) {
sensor_msgs::JointState msg;
for (unsigned int i=0; i < chain.getNrOfSegments(); ++i) {
KDL::Segment segment = chain.getSegment(i);
KDL::Joint joint = segment.getJoint();
if (joint.getType() == KDL::Joint::JointType::None) continue;
msg.name.push_back(joint.getName());
msg.position.push_back(0);
}
return msg;
}
void printKDLchain(std::string s,const KDL::Chain & kdlChain)
{
std::cout << s << std::endl;
for(int p=0; p < (int)kdlChain.getNrOfSegments(); p++)
{
std::cout << "Segment " << p << ":" << std::endl;
KDL::Segment seg = kdlChain.getSegment(p);
KDL::Frame fra = seg.getFrameToTip();
std::cout << seg << std::endl;
std::cout << fra << std::endl;
}
}
bool leatherman::getSegmentIndex(const KDL::Chain &c, std::string name, int &index)
{
for(size_t j = 0; j < c.getNrOfSegments(); ++j)
{
if(c.getSegment(j).getName().compare(name) == 0)
{
index = j;
return true;
}
}
return false;
}
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;
}
}
}
int getKDLSegmentIndex(const KDL::Chain &chain,
const std::string &name)
{
int i=0; // segment number
while(i < (int)chain.getNrOfSegments())
{
if(chain.getSegment(i).getName() == name)
{
return i+1;
}
i++;
}
return -1;
}
bool addBaseTransformation(const KDL::Chain & old_chain, KDL::Chain & new_chain, KDL::Frame H_new_old)
{
new_chain = KDL::Chain();
for(unsigned int i=0; i<old_chain.getNrOfSegments(); i++) {
KDL::Segment segm;
segm = old_chain.getSegment(i);
//if is not the first segment add normally the segment
if( i != 0 ) {
new_chain.addSegment(segm);
} else {
//otherwise modify the segment before adding it
KDL::Segment new_segm;
KDL::Joint new_joint, old_joint;
old_joint = segm.getJoint();
KDL::Joint::JointType new_type;
switch(old_joint.getType()) {
case KDL::Joint::RotAxis:
case KDL::Joint::RotX:
case KDL::Joint::RotY:
case KDL::Joint::RotZ:
new_type = KDL::Joint::RotAxis;
break;
case KDL::Joint::TransAxis:
case KDL::Joint::TransX:
case KDL::Joint::TransY:
case KDL::Joint::TransZ:
new_type = KDL::Joint::TransAxis;
break;
case KDL::Joint::None:
default:
new_type = KDL::Joint::None;
}
//check !
new_joint = KDL::Joint(old_joint.getName(),H_new_old*old_joint.JointOrigin(),H_new_old.M*old_joint.JointAxis(),new_type);
new_segm = KDL::Segment(segm.getName(),new_joint,H_new_old*segm.getFrameToTip(),segm.getInertia());
new_chain.addSegment(new_segm);
}
}
return true;
}
bool OrientationConstraint::initialize(const arm_navigation_msgs::OrientationConstraint& constraint,
const KDL::Chain& chain)
{
constraint_ = constraint;
link_id_ = -1;
for (unsigned int i=0; i<chain.getNrOfSegments(); ++i)
{
if (constraint_.link_name == chain.getSegment(i).getName())
{
link_id_ = i;
break;
}
}
if (link_id_ == -1)
{
ROS_ERROR("OrientationConstraint: couldn't find link %s in chain.", constraint_.link_name.c_str());
return false;
}
return true;
}
bool PositionConstraint::initialize(const arm_navigation_msgs::PositionConstraint& constraint,
const KDL::Chain& chain)
{
constraint_ = constraint;
link_id_ = -1;
for (unsigned int i=0; i<chain.getNrOfSegments(); ++i)
{
if (constraint_.link_name == chain.getSegment(i).getName())
{
link_id_ = i;
break;
}
}
if (link_id_ == -1)
{
ROS_ERROR("CIK PositionConstraint: couldn't find link %s in chain.", constraint_.link_name.c_str());
return false;
}
rosPointToKdlVector(constraint_.target_point_offset, offset_);
rosPointToKdlVector(constraint_.position, desired_location_);
if (constraint_.constraint_region_shape.type != arm_navigation_msgs::Shape::BOX ||
constraint_.constraint_region_shape.dimensions.size() != 3)
{
ROS_ERROR("CIK PositionConstraint: we only handle 3-d BOX constraints currently.");
return false;
}
KDL::Rotation constraint_rotation;
rosQuaternionToKdlRotation(constraint_.constraint_region_orientation, constraint_rotation);
constraint_rotation_inverse_ = constraint_rotation.Inverse();
kdlRotationToEigenMatrix3d(constraint_rotation_inverse_, constraint_rotation_inverse_eigen_);
return true;
}
bool idynSensorChain2kdlChain(iCub::iDyn::iDynChain & idynChain,
iCub::iDyn::iDynInvSensor & idynSensor,
KDL::Chain & kdlChain,
KDL::Frame & H_sensor_dh_child,
std::vector<std::string> link_names,std::vector<std::string> joint_names, std::string final_frame_name, std::string initial_frame_name, int max_links)
{
bool use_names;
int n_links, i, sensor_link;
n_links = idynChain.getN();
sensor_link = idynSensor.getSensorLink();
int kdl_links = n_links + 1; //The sensor links transform a link in two different links
int kdl_joints = kdl_links;
if(n_links <= 0 ) return false;
if( (int)link_names.size() < kdl_links || (int)joint_names.size() < kdl_joints ) {
use_names = false;
} else {
use_names = true;
}
KDL::Frame kdlFrame = KDL::Frame();
KDL::Frame kdl_H;
kdlChain = KDL::Chain();
KDL::Segment kdlSegment = KDL::Segment();
KDL::RigidBodyInertia kdlRigidBodyInertia = KDL::RigidBodyInertia();
int kdl_i = 0;
if( initial_frame_name.length() != 0 ) {
idynMatrix2kdlFrame(idynChain.getH0(),kdlFrame);
kdlSegment = KDL::Segment(initial_frame_name,KDL::Joint(initial_frame_name+"_joint",KDL::Joint::None),kdlFrame);
kdlChain.addSegment(kdlSegment);
}
KDL::Frame remainder_frame = KDL::Frame::Identity();
for(i=0; i<n_links; i++)
{
if( i != sensor_link ) {
//forgive him, as he does not know what is doing
iCub::iKin::iKinLink & link_current = idynChain[i];
//For the last link, take in account also HN
if ( i == n_links - 1) {
idynMatrix2kdlFrame(idynChain.getHN(),kdl_H);
kdlFrame = kdlFrame.DH(link_current.getA(),link_current.getAlpha(),link_current.getD(),link_current.getOffset())*kdl_H;
} else {
kdlFrame = kdlFrame.DH(link_current.getA(),link_current.getAlpha(),link_current.getD(),link_current.getOffset());
}
bool ret = idynDynamicalParameters2kdlRigidBodyInertia(idynChain.getMass(i),idynChain.getCOM(i).subcol(0,3,3),idynChain.getInertia(i),kdlRigidBodyInertia);
assert(ret);
if(!ret) return false;
//For the joint after the ft sensor, consider the offset between the ft sensor
// and the joint
if( idynChain.isLinkBlocked(i) ) {
// if it is blocked, it is easy to add the remainder frame
if( use_names ) {
kdlSegment = KDL::Segment(link_names[kdl_i],KDL::Joint(joint_names[kdl_i],KDL::Joint::None),remainder_frame*kdlFrame,kdlRigidBodyInertia);
kdl_i++;
} else {
kdlSegment = KDL::Segment(KDL::Joint(KDL::Joint::None),remainder_frame*kdlFrame,kdlRigidBodyInertia);
}
} else {
KDL::Vector new_joint_axis, new_joint_origin;
new_joint_axis = remainder_frame.M*KDL::Vector(0.0,0.0,0.1);
new_joint_origin = remainder_frame.p;
if( use_names ) {
kdlSegment = KDL::Segment(link_names[kdl_i],KDL::Joint(joint_names[kdl_i],new_joint_origin,new_joint_axis,KDL::Joint::RotAxis),remainder_frame*kdlFrame,kdlRigidBodyInertia);
kdl_i++;
} else {
kdlSegment = KDL::Segment(KDL::Joint(new_joint_origin,new_joint_axis,KDL::Joint::RotAxis),remainder_frame*kdlFrame,kdlRigidBodyInertia);
}
}
kdlChain.addSegment(kdlSegment);
remainder_frame = KDL::Frame::Identity();
} else {
//( i == segment_link )
double m,m0,m1;
yarp::sig::Vector r0(3),r1(3),r(3),rgg0(3),rgg1(3),r_i_s_wrt_i(3),r_i_C0_wrt_i;
yarp::sig::Matrix I,I0,I1;
yarp::sig::Matrix R_s_wrt_i;
iCub::iKin::iKinLink & link_current = idynChain[sensor_link];
KDL::Frame kdlFrame_0 = KDL::Frame();
KDL::Frame kdlFrame_1 = KDL::Frame();
//Imagine that we have i, s , i+1
//yarp::sig::Matrix H_0;
//The angle of the sensor link joint is put to 0 and then restored
double angSensorLink = link_current.getAng();
yarp::sig::Matrix H_sensor_link = (link_current.getH(0.0)); //H_{i-1}_i
link_current.setAng(angSensorLink);
//idynSensor.getH() <--> H_i_s
yarp::sig::Matrix H_0 = H_sensor_link * (idynSensor.getH()); // H_{i-1}_s = H_{i-1}_i*H_i_s ?
yarp::sig::Matrix H_1 = localSE3inv(idynSensor.getH()); //H_s_{i}
//std::cout << "H_0" << std::endl << H_0.toString() << std::endl;
//std::cout << "H_1" << std::endl << H_1.toString() << std::endl;
idynMatrix2kdlFrame(H_0,kdlFrame_0);
idynMatrix2kdlFrame(H_1,kdlFrame_1);
remainder_frame = kdlFrame_1;
H_sensor_dh_child = remainder_frame;
kdlFrame_1 = KDL::Frame::Identity();
//cout << "kdlFrame_0: " << endl;
//cout << kdlFrame_0;
//cout << "kdlFrame_1: " << endl;
//cout << kdlFrame_1;
KDL::RigidBodyInertia kdlRigidBodyInertia_0 = KDL::RigidBodyInertia();
KDL::RigidBodyInertia kdlRigidBodyInertia_1 = KDL::RigidBodyInertia();
m = idynChain.getMass(sensor_link);
m1 = idynSensor.getMass();
m0 = m-m1;
//It is not possible that the semilink is more heavy than the link!!!
assert(m0 > 0);
//r_{i,C_i}^i
r = idynChain.getCOM(i).subcol(0,3,3);
//R_s^i
R_s_wrt_i = idynSensor.getH().submatrix(0,2,0,2);
r_i_s_wrt_i = idynSensor.getH().subcol(0,3,3);
//r0 := r_{s,C_{{vl}_0}}^s
//r1 := r_{i,C_{{vl}_1}}^i
//
r1 = r_i_s_wrt_i + R_s_wrt_i*(idynSensor.getCOM().subcol(0,3,3));
//cout << "m0: " << m0 << endl;
r_i_C0_wrt_i = (1/m0)*(m*r-m1*r1);
r0 = R_s_wrt_i.transposed()*(r_i_C0_wrt_i-r_i_s_wrt_i);
I = idynChain.getInertia(i);
I1 = R_s_wrt_i*idynSensor.getInertia()*R_s_wrt_i.transposed();
rgg0 = -1*r+r_i_C0_wrt_i;
rgg1 = -1*r+r1;
I0 = R_s_wrt_i.transposed()*(I - I1 + m1*crossProductMatrix(rgg1)*crossProductMatrix(rgg1) + m0*crossProductMatrix(rgg0)*crossProductMatrix(rgg0))*R_s_wrt_i;
//DEBUG
//printMatrix("I",I);
//printMatrix("I1",I1);
//printMatrix("I0",I0);
//printMatrix("cross",crossProductMatrix(rgg1));
//cout << "m0: " << m0 << endl;
//printVector("r0",r0);
//printMatrix("I0",I0);
bool ret;
ret = idynDynamicalParameters2kdlRigidBodyInertia(m0,r0,I0,kdlRigidBodyInertia_0);
assert(ret);
if(!ret) return false;
ret = idynDynamicalParameters2kdlRigidBodyInertia(m1,r1,I1,kdlRigidBodyInertia_1);
assert(ret);
if(!ret) return false;
KDL::RigidBodyInertia kdlRigidBodyInertia_1_buf;
kdlRigidBodyInertia_1_buf = remainder_frame*kdlRigidBodyInertia_1;
kdlRigidBodyInertia_1 = kdlRigidBodyInertia_1_buf;
if( use_names ) {
kdlSegment = KDL::Segment(link_names[kdl_i],KDL::Joint(joint_names[kdl_i],KDL::Joint::RotZ),kdlFrame_0,kdlRigidBodyInertia_0);
kdl_i++;
} else {
kdlSegment = KDL::Segment(KDL::Joint(KDL::Joint::RotZ),kdlFrame_0,kdlRigidBodyInertia_0);
}
kdlChain.addSegment(kdlSegment);
if( use_names ) {
kdlSegment = KDL::Segment(link_names[kdl_i],KDL::Joint(joint_names[kdl_i],KDL::Joint::None),kdlFrame_1,kdlRigidBodyInertia_1);
kdl_i++;
} else {
kdlSegment = KDL::Segment(KDL::Joint(KDL::Joint::None),kdlFrame_1,kdlRigidBodyInertia_1);
}
kdlChain.addSegment(kdlSegment);
}
}
//Final link can be segment
if( final_frame_name.length() != 0 ) {
idynMatrix2kdlFrame(idynChain.getHN(),kdlFrame);
kdlSegment = KDL::Segment(final_frame_name,KDL::Joint(final_frame_name+"_joint",KDL::Joint::None),kdlFrame);
kdlChain.addSegment(kdlSegment);
}
if( max_links < (int)kdlChain.getNrOfSegments() )
{
KDL::Chain new_kdlChain;
for(int p=0; p < max_links; p++)
{
new_kdlChain.addSegment(kdlChain.getSegment(p));
}
kdlChain = new_kdlChain;
}
//Considering the H0 transformation
if( initial_frame_name.length() == 0 ) {
KDL::Chain new_chain;
KDL::Frame kdl_H0;
idynMatrix2kdlFrame(idynChain.getH0(),kdl_H0);
addBaseTransformation(kdlChain,new_chain,kdl_H0);
kdlChain = new_chain;
}
return true;
}
bool fk_solve_all(kinematics_msgs::GetPositionFK::Request &req,
kinematics_msgs::GetPositionFK::Response &res )
{
ROS_INFO("[TESTING]: get_fk_all_service has been called!");
unsigned int nj = chain.getNrOfJoints();
unsigned int nl = chain.getNrOfSegments();
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(nl);
res.fk_link_names.resize(nl);
for(int j = 0; j < nl; j++)
{
if(fksolver1.JntToCart(conf, F_ist, j+1) >= 0)
{
std::cout << "Calculated Position out of Configuration for segment " << j+1 << ":\n";
std::cout << F_ist <<"\n";
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[j] = pose;
res.fk_link_names[j] = chain.getSegment(j).getName();
res.error_code.val = res.error_code.SUCCESS;
}
else
{
ROS_ERROR("Could not compute FK for segment %d", j);
res.error_code.val = res.error_code.NO_FK_SOLUTION;
}
//TODO: fill out response!!!
//res.pose_stamped[j]
}
return true;
}
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;
}
}
