void convertKDLJacToVispMat(const KDL::Jacobian &kdlJac,
vpMatrix &vispMat)
{
for(unsigned int i=0; i<kdlJac.rows(); ++i)
{
for(unsigned int j=0; j<kdlJac.columns(); ++j)
{
vispMat[i][j] = kdlJac.data(i,j);
}
}
}
vpMatrix kdlJacobianToVispJacobian(const KDL::Jacobian& kdlJacobian,
const vpHomogeneousMatrix& bMe)
{
vpMatrix vpJacobian(kdlJacobian.rows(), kdlJacobian.columns());
KDL::Jacobian kdlJacobianCopy = kdlJacobian;
// Fix reference point so that it is in the base frame
vpTranslationVector bOe; //origin of end frame in base frame
bMe.extract(bOe);
kdlJacobianCopy.changeRefPoint(KDL::Vector(-bOe[0], -bOe[1], -bOe[2]));
pal::convertKDLJacToVispMat(kdlJacobianCopy, vpJacobian);// KDL data --> Visp data
return vpJacobian;
}
// -------------------------------------------------------------------------------------
KDL::Jacobian JacoIKSolver::desiredJacobian(Eigen::MatrixXd qd)
{
KDL::JntArray joint_in;
KDL::Jacobian jac;
joint_in.resize(6);
jac.resize(chain_.getNrOfJoints());
qd = DTR*qd;
for (int i = 0; i < 6; i++){
joint_in(i) = qd(0,i);
}
jnt_to_jac_solver_->JntToJac(joint_in, jac);
return jac;
}
KDL::Jacobian JacoIKSolver::jointToJacobian(JacoAngles JAngle)
{
KDL::JntArray joint_in;
KDL::Jacobian jac;
joint_in.resize(6);
jac.resize(chain_.getNrOfJoints());
joint_in(0) = ( JAngle.Actuator1 - 180.0 ) * DTR;
joint_in(1) = ( JAngle.Actuator2 - 270.0 ) * DTR;
joint_in(2) = ( JAngle.Actuator3 - 90.0 ) * DTR;
joint_in(3) = ( JAngle.Actuator4 - 180.0 ) * DTR;
joint_in(4) = ( JAngle.Actuator5 - 180.0 ) * DTR;
joint_in(5) = ( JAngle.Actuator6 - 270.0 ) * DTR;
jnt_to_jac_solver_->JntToJac(joint_in, jac);
return jac;
}
void ITRCartesianImpedanceController::multiplyJacobian(const KDL::Jacobian& jac, const KDL::Wrench& src, KDL::JntArray& dest)
{
Eigen::Matrix<double,6,1> w;
w(0) = src.force(0);
w(1) = src.force(1);
w(2) = src.force(2);
w(3) = src.torque(0);
w(4) = src.torque(1);
w(5) = src.torque(2);
Eigen::MatrixXd j(jac.rows(), jac.columns());
j = jac.data;
j.transposeInPlace();
Eigen::VectorXd t(jac.columns());
t = j*w;
dest.resize(jac.columns());
for (unsigned i=0; i<jac.columns(); i++)
dest(i) = t(i);
}
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;
}
}
}
void CartTrajInterp::updateHook(){
// Read the ports
RTT::FlowStatus ftraj = this->port_traj_in_.read(this->traj_in_);
RTT::FlowStatus fp = this->port_joint_position_in_.read(this->joint_position_in_);
RTT::FlowStatus fv = this->port_joint_velocity_in_.read(this->joint_velocity_in_);
// If we get a new trajectory update it and start with point 0
if(ftraj == RTT::NewData)
{
RTT::log(RTT::Info) << "New trajectory with "<<traj_in_.result.planned_trajectory.joint_trajectory.points.size() <<" points" << RTT::endlog();
if(!this->interpolate(traj_in_.result.planned_trajectory.joint_trajectory, traj_curr_)){
RTT::log(RTT::Error) << "Interpolation of the trajectory failed" << RTT::endlog();
return;
}
RTT::log(RTT::Info) << "Interpolated traj with "<<traj_curr_.points.size() <<" points" << RTT::endlog();
this->traj_pt_nb_ = 0;
}
// Return if not giving any robot update (might happend during startup)
if(fp == RTT::NoData || fv == RTT::NoData)
return
// Update the chain model
this->arm_.setState(this->joint_position_in_,this->joint_velocity_in_);
this->arm_.updateModel();
// Check trajectory is not empty
if (this->traj_curr_.points.size() < 1)
return;
// Check trajectory is not finished
if (this->traj_pt_nb_ > this->traj_curr_.points.size() - 1)
return;
// Pick current point in trajectory
for(unsigned int i = 0; i < this->dof_; ++i){
this->pt_in_.q(i) = this->traj_curr_.points[this->traj_pt_nb_].positions[i];
this->pt_in_.qdot(i) = this->traj_curr_.points[this->traj_pt_nb_].velocities[i] ;
this->pt_in_.qdotdot(i) = this->traj_curr_.points[this->traj_pt_nb_].accelerations[i] ;
}
// Compute FK
KDL::FrameVel traj_pt_vel;
KDL::JntArrayVel pt_in_vel;
pt_in_vel.q = this->pt_in_.q;
pt_in_vel.qdot = this->pt_in_.qdot;
KDL::Twist JdotQdot;
// If FK or JdotQdot solver fails start over
if ((this->fk_solver_vel_->JntToCart(pt_in_vel, traj_pt_vel) == 0) && (this->jntToJacDotSolver_->JntToJacDot(pt_in_vel, JdotQdot) == 0) ){
KDL::Jacobian J = this->arm_.getJacobian();
KDL::Twist xdotdot;
// Xdd = Jd * qd + J * qdd
for(unsigned int i = 0; i < 6; ++i )
xdotdot(i) = JdotQdot(i) + J.data(i) * this->pt_in_.qdotdot(i);
this->traj_pt_out_ = KDL::FrameAcc(traj_pt_vel.GetFrame(), traj_pt_vel.GetTwist(), xdotdot);
// Send cartesian trajectory point to the controller
this->port_traj_pt_out_.write(this->traj_pt_out_);
this->port_traj_joint_out_.write(this->pt_in_);
// Increment counter
this->traj_pt_nb_++;
}
}
int SNS_IK::CartToJntVel(const KDL::JntArray& q_in, const KDL::Twist& v_in,
const KDL::JntArray& q_bias,
const std::vector<std::string>& biasNames,
const KDL::JntArray& q_vel_bias,
KDL::JntArray& qdot_out)
{
if (!m_initialized) {
ROS_ERROR("SNS_IK was not properly initialized with a valid chain or limits.");
return -1;
}
KDL::Jacobian jacobian;
jacobian.resize(q_in.rows());
if (m_jacobianSolver->JntToJac(q_in, jacobian) < 0)
{
std::cout << "JntToJac failed" << std::endl;
return -1;
}
std::vector<Task> sot;
Task task;
task.jacobian = jacobian.data;
task.desired = VectorD::Zero(6);
// twistEigenToKDL
for(size_t i = 0; i < 6; i++)
task.desired(i) = v_in[i];
sot.push_back(task);
// Calculate the nullspace goal as a configuration-space task.
// Creates a task Jacobian which maps the provided nullspace joints to
// the full joint state.
if (q_bias.rows()) {
Task task2;
std::vector<int> indicies;
if (!nullspaceBiasTask(q_bias, biasNames, &(task2.jacobian), &indicies)) {
ROS_ERROR("Could not create nullspace bias task");
return -1;
}
task2.desired = VectorD::Zero(q_bias.rows());
for (size_t ii = 0; ii < q_bias.rows(); ++ii) {
// This calculates a "nullspace velocity".
// There is an arbitrary scale factor which will be set by the max scale factor.
task2.desired(ii) = m_nullspaceGain * (q_bias(ii) - q_in(indicies[ii])) / m_loopPeriod;
// TODO: may want to limit the NS velocity to 70-90% of max joint velocity
}
sot.push_back(task2);
}
// Bias the joint velocities
// If the bias is the previous joint velocities, this is velocity damping
if(q_vel_bias.rows() == q_in.rows()) {
Task task2;
task2.jacobian = MatrixD::Identity(q_vel_bias.rows(), q_vel_bias.rows());
task2.desired = VectorD::Zero(q_vel_bias.rows());
for (size_t ii = 0; ii < q_vel_bias.rows(); ++ii) {
task2.desired(ii) = q_vel_bias(ii);
}
sot.push_back(task2);
}
return m_ik_vel_solver->getJointVelocity(&qdot_out.data, sot, q_in.data);
}
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;
}
}
vpMatrix convertKDLJacToVispMat(const KDL::Jacobian& kdlJac)
{
vpMatrix vispMat(kdlJac.rows(), kdlJac.columns());
convertKDLJacToVispMat(kdlJac, vispMat);
return vispMat;
}
int main(int argc, char *argv[])
{
ros::init(argc, argv, "kinematics_publisher");
ros::NodeHandle nh;
ros::Publisher joint_publisher;
ros::Publisher frame_publisher;
joint_publisher = nh.advertise<sensor_msgs::JointState>("kinematics/joint_states", 1, true);
frame_publisher = nh.advertise<geometry_msgs::PoseStamped>("/frame_result", 1, true);
std::vector<std::string> names;
names.resize(2);
names.at(0) = "base_to_body";
names.at(1) = "body_to_head";
sensor_msgs::JointState my_joints;
my_joints.name = names;
my_joints.position.resize(2);
my_joints.position.at(0) = 0.2;
my_joints.position.at(1) = 0,2;
joint_publisher.publish(my_joints);
ros::spinOnce();
std::cin.get();
bool exit_value;
KDL::Tree my_tree;
urdf::Model my_model;
if (!kdl_parser::treeFromParam("/robot_description", my_tree)){
ROS_ERROR("Failed to construct kdl tree");
return false;
}
std::cout << "Number of links of the urdf:" << my_tree.getNrOfSegments() << std::endl;
std::cout << "Number of Joints of the urdf:" << my_tree.getNrOfJoints() << std::endl;
KDL::Chain my_chain;
my_tree.getChain("world", "webcam", my_chain);
std::cout << "Number of links of the CHAIN:" << my_chain.getNrOfSegments() << std::endl;
std::cout << "Number of Joints of the CHAIN:" << my_chain.getNrOfJoints() << std::endl;
KDL::ChainFkSolverPos_recursive fksolver(my_chain);
KDL::JntArray q(my_chain.getNrOfJoints());
q(0) = my_joints.position.at(0);
q(1) = my_joints.position.at(1);
KDL::Frame webcam;
fksolver.JntToCart(q,webcam);
geometry_msgs::Pose webcam_pose;
tf::poseKDLToMsg(webcam, webcam_pose);
geometry_msgs::PoseStamped webcam_stamped;
webcam_stamped.pose = webcam_pose;
webcam_stamped.header.frame_id = "world";
webcam_stamped.header.stamp = ros::Time::now();
frame_publisher.publish(webcam_stamped);
ros::spinOnce();
KDL::ChainJntToJacSolver jacobian_solver(my_chain);
KDL::Jacobian J;
J.resize(2);
jacobian_solver.JntToJac(q, J);
std::cout << J.data << std::endl;
webcam.M.DoRotY(-20*KDL::deg2rad);
tf::poseKDLToMsg(webcam, webcam_pose);
webcam_stamped.pose = webcam_pose;
webcam_stamped.header.stamp = ros::Time::now();
frame_publisher.publish(webcam_stamped);
ros::spinOnce();
std::cin.get();
KDL::ChainIkSolverVel_pinv ik_solver_vel(my_chain);
KDL::ChainIkSolverPos_NR ik_solver_pos(my_chain,fksolver,ik_solver_vel);
KDL::JntArray q_sol(2);
ik_solver_pos.CartToJnt(q, webcam,q_sol);
my_joints.position.at(0) = q_sol(0);
my_joints.position.at(1) = q_sol(1);
joint_publisher.publish(my_joints);
ros::spinOnce();
std::cin.get();
KDL::Vector g (0.0,0.0,-9.81);
KDL::ChainDynParam my_chain_params(my_chain, g);
KDL::ChainIdSolver_RNE id_solver(my_chain, g);
KDL::JntArray G(2);
my_chain_params.JntToGravity(q_sol,G);
KDL::JntSpaceInertiaMatrix H(2);
my_chain_params.JntToMass(q_sol, H);
KDL::JntArray C(2);
KDL::JntArray q_dot(2);
q_dot(0) = 0.02;
q_dot(1) = 0.04;
my_chain_params.JntToCoriolis(q_sol,q_dot, C);
std::cout << "g(q): " <<G.data << std::endl;
std::cout << "M(q): " <<H.data << std::endl;
std::cout << "C(q,q_dot): " <<C.data << std::endl;
KDL::JntArray q_dotdot(2);
q_dotdot(0) = -0.02;
q_dotdot(1) = 0.02;
KDL::Wrenches f(4);
KDL::JntArray tau(2);
id_solver.CartToJnt(q_sol, q_dot, q_dotdot, f, tau);
std::cout << "Tau: " <<tau.data << std::endl;
std::cin.get();
moveit::planning_interface::MoveGroup my_group("webcam_robot");
my_group.setNamedTarget("look_left");
my_group.move();
return false;
}
