183 lines
7.5 KiB
C++
183 lines
7.5 KiB
C++
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//
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// Created by tlab-uav on 24-10-4.
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//
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#include "LeggedGymController.h"
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namespace legged_gym_controller {
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using config_type = controller_interface::interface_configuration_type;
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controller_interface::InterfaceConfiguration LeggedGymController::command_interface_configuration() const {
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controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
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conf.names.reserve(joint_names_.size() * command_interface_types_.size());
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for (const auto &joint_name: joint_names_) {
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for (const auto &interface_type: command_interface_types_) {
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conf.names.push_back(joint_name + "/" += interface_type);
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}
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}
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return conf;
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}
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controller_interface::InterfaceConfiguration LeggedGymController::state_interface_configuration() const {
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controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
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conf.names.reserve(joint_names_.size() * state_interface_types_.size());
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for (const auto &joint_name: joint_names_) {
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for (const auto &interface_type: state_interface_types_) {
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conf.names.push_back(joint_name + "/" += interface_type);
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}
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}
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for (const auto &interface_type: imu_interface_types_) {
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conf.names.push_back(imu_name_ + "/" += interface_type);
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}
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for (const auto &interface_type: foot_force_interface_types_) {
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conf.names.push_back(foot_force_name_ + "/" += interface_type);
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}
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return conf;
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}
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controller_interface::return_type LeggedGymController::
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update(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
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if (mode_ == FSMMode::NORMAL) {
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current_state_->run();
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next_state_name_ = current_state_->checkChange();
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if (next_state_name_ != current_state_->state_name) {
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mode_ = FSMMode::CHANGE;
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next_state_ = getNextState(next_state_name_);
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RCLCPP_INFO(get_node()->get_logger(), "Switched from %s to %s",
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current_state_->state_name_string.c_str(), next_state_->state_name_string.c_str());
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}
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} else if (mode_ == FSMMode::CHANGE) {
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current_state_->exit();
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current_state_ = next_state_;
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current_state_->enter();
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mode_ = FSMMode::NORMAL;
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}
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return controller_interface::return_type::OK;
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}
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controller_interface::CallbackReturn LeggedGymController::on_init() {
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try {
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joint_names_ = auto_declare<std::vector<std::string> >("joints", joint_names_);
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feet_names_ = auto_declare<std::vector<std::string> >("feet_names", feet_names_);
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command_interface_types_ =
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auto_declare<std::vector<std::string> >("command_interfaces", command_interface_types_);
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state_interface_types_ =
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auto_declare<std::vector<std::string> >("state_interfaces", state_interface_types_);
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// imu sensor
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imu_name_ = auto_declare<std::string>("imu_name", imu_name_);
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imu_interface_types_ = auto_declare<std::vector<std::string> >("imu_interfaces", state_interface_types_);
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} catch (const std::exception &e) {
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fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
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return controller_interface::CallbackReturn::ERROR;
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}
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return CallbackReturn::SUCCESS;
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}
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controller_interface::CallbackReturn LeggedGymController::on_configure(
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const rclcpp_lifecycle::State & /*previous_state*/) {
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control_input_subscription_ = get_node()->create_subscription<control_input_msgs::msg::Inputs>(
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"/control_input", 10, [this](const control_input_msgs::msg::Inputs::SharedPtr msg) {
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// Handle message
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ctrl_comp_.control_inputs_.command = msg->command;
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ctrl_comp_.control_inputs_.lx = msg->lx;
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ctrl_comp_.control_inputs_.ly = msg->ly;
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ctrl_comp_.control_inputs_.rx = msg->rx;
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ctrl_comp_.control_inputs_.ry = msg->ry;
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});
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get_node()->get_parameter("update_rate", ctrl_comp_.frequency_);
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RCLCPP_INFO(get_node()->get_logger(), "Controller Manager Update Rate: %d Hz", ctrl_comp_.frequency_);
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return CallbackReturn::SUCCESS;
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}
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controller_interface::CallbackReturn LeggedGymController::on_activate(
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const rclcpp_lifecycle::State & /*previous_state*/) {
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// clear out vectors in case of restart
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ctrl_comp_.clear();
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// assign command interfaces
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for (auto &interface: command_interfaces_) {
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std::string interface_name = interface.get_interface_name();
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if (const size_t pos = interface_name.find('/'); pos != std::string::npos) {
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command_interface_map_[interface_name.substr(pos + 1)]->push_back(interface);
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} else {
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command_interface_map_[interface_name]->push_back(interface);
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}
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}
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// assign state interfaces
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for (auto &interface: state_interfaces_) {
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if (interface.get_prefix_name() == imu_name_) {
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ctrl_comp_.imu_state_interface_.emplace_back(interface);
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} else if (interface.get_prefix_name() == foot_force_name_) {
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ctrl_comp_.foot_force_state_interface_.emplace_back(interface);
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} else {
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state_interface_map_[interface.get_interface_name()]->push_back(interface);
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}
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}
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// Create FSM List
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state_list_.passive = std::make_shared<StatePassive>(ctrl_comp_);
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state_list_.fixedDown = std::make_shared<StateFixedDown>(ctrl_comp_);
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state_list_.fixedStand = std::make_shared<StateFixedStand>(ctrl_comp_);
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// Initialize FSM
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current_state_ = state_list_.passive;
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current_state_->enter();
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next_state_ = current_state_;
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next_state_name_ = current_state_->state_name;
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mode_ = FSMMode::NORMAL;
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return CallbackReturn::SUCCESS;
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}
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controller_interface::CallbackReturn LeggedGymController::on_deactivate(
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const rclcpp_lifecycle::State & /*previous_state*/) {
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release_interfaces();
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return CallbackReturn::SUCCESS;
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}
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controller_interface::CallbackReturn
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LeggedGymController::on_cleanup(const rclcpp_lifecycle::State &previous_state) {
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return ControllerInterface::on_cleanup(previous_state);
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}
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controller_interface::CallbackReturn
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LeggedGymController::on_shutdown(const rclcpp_lifecycle::State &previous_state) {
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return ControllerInterface::on_shutdown(previous_state);
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}
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controller_interface::CallbackReturn LeggedGymController::on_error(const rclcpp_lifecycle::State &previous_state) {
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return ControllerInterface::on_error(previous_state);
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}
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std::shared_ptr<FSMState> LeggedGymController::getNextState(FSMStateName stateName) const {
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switch (stateName) {
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case FSMStateName::INVALID:
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return state_list_.invalid;
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case FSMStateName::PASSIVE:
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return state_list_.passive;
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case FSMStateName::FIXEDDOWN:
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return state_list_.fixedDown;
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case FSMStateName::FIXEDSTAND:
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return state_list_.fixedStand;
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default:
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return state_list_.invalid;
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}
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}
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}
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#include "pluginlib/class_list_macros.hpp"
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PLUGINLIB_EXPORT_CLASS(legged_gym_controller::LeggedGymController, controller_interface::ControllerInterface);
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