74 lines
2.9 KiB
C++
74 lines
2.9 KiB
C++
/************************************************************************
|
|
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
|
|
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
|
|
************************************************************************/
|
|
|
|
#ifndef _UNITREE_ROS_JOINT_CONTROLLER_H_
|
|
#define _UNITREE_ROS_JOINT_CONTROLLER_H_
|
|
|
|
#include <ros/node_handle.h>
|
|
#include <urdf/model.h>
|
|
#include <control_toolbox/pid.h>
|
|
#include <boost/scoped_ptr.hpp>
|
|
#include <boost/thread/condition.hpp>
|
|
#include <realtime_tools/realtime_publisher.h>
|
|
#include <hardware_interface/joint_command_interface.h>
|
|
#include <controller_interface/controller.h>
|
|
#include <std_msgs/Float64.h>
|
|
#include <realtime_tools/realtime_buffer.h>
|
|
#include <controller_interface/controller.h>
|
|
#include <hardware_interface/joint_command_interface.h>
|
|
#include "unitree_legged_msgs/MotorCmd.h"
|
|
#include "unitree_legged_msgs/MotorState.h"
|
|
#include <geometry_msgs/WrenchStamped.h>
|
|
#include "unitree_joint_control_tool.h"
|
|
|
|
#define PMSM (0x0A)
|
|
#define BRAKE (0x00)
|
|
#define PosStopF (2.146E+9f)
|
|
#define VelStopF (16000.0f)
|
|
|
|
namespace unitree_legged_control
|
|
{
|
|
class UnitreeJointController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
|
|
{
|
|
private:
|
|
hardware_interface::JointHandle joint;
|
|
ros::Subscriber sub_cmd, sub_ft;
|
|
// ros::Publisher pub_state;
|
|
control_toolbox::Pid pid_controller_;
|
|
boost::scoped_ptr<realtime_tools::RealtimePublisher<unitree_legged_msgs::MotorState> > controller_state_publisher_ ;
|
|
|
|
public:
|
|
// bool start_up;
|
|
std::string name_space;
|
|
std::string joint_name;
|
|
float sensor_torque;
|
|
bool isHip, isThigh, isCalf, rqtTune;
|
|
urdf::JointConstSharedPtr joint_urdf;
|
|
realtime_tools::RealtimeBuffer<unitree_legged_msgs::MotorCmd> command;
|
|
unitree_legged_msgs::MotorCmd lastCmd;
|
|
unitree_legged_msgs::MotorState lastState;
|
|
ServoCmd servoCmd;
|
|
|
|
UnitreeJointController();
|
|
~UnitreeJointController();
|
|
virtual bool init(hardware_interface::EffortJointInterface *robot, ros::NodeHandle &n);
|
|
virtual void starting(const ros::Time& time);
|
|
virtual void update(const ros::Time& time, const ros::Duration& period);
|
|
virtual void stopping();
|
|
void setTorqueCB(const geometry_msgs::WrenchStampedConstPtr& msg);
|
|
void setCommandCB(const unitree_legged_msgs::MotorCmdConstPtr& msg);
|
|
void positionLimits(double &position);
|
|
void velocityLimits(double &velocity);
|
|
void effortLimits(double &effort);
|
|
|
|
void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup = false);
|
|
void getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup);
|
|
void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
|
|
|
|
};
|
|
}
|
|
|
|
#endif
|