schunk_powercube_chain.cpp

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//##################
//#### includes ####
//##################

// standard includes
// --

// ROS includes
#include <ros/ros.h>
#include <urdf/model.h>

// ROS message includes
#include <sensor_msgs/JointState.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <control_msgs/JointTrajectoryControllerState.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <brics_actuator/JointPositions.h>
#include <brics_actuator/JointVelocities.h>


// ROS service includes
#include <cob_srvs/Trigger.h>
#include <cob_srvs/SetOperationMode.h>

// own includes
#include <schunk_powercube_chain/PowerCubeCtrl.h>
#include <schunk_powercube_chain/PowerCubeCtrlParams.h>
//#include <schunk_powercube_chain/Diagnostics.h>

class PowerCubeChainNode
{

public:
  ros::NodeHandle n_;

  ros::Publisher topicPub_JointState_;
  ros::Publisher topicPub_ControllerState_;
  ros::Publisher topicPub_OperationMode_;
  ros::Publisher topicPub_Diagnostic_;

  ros::Subscriber topicSub_CommandPos_;
  ros::Subscriber topicSub_CommandVel_;

  ros::ServiceServer srvServer_Init_;
  ros::ServiceServer srvServer_SetOperationMode_;
  ros::ServiceServer srvServer_Stop_;
  ros::ServiceServer srvServer_Recover_;

  PowerCubeCtrl* pc_ctrl_;

  PowerCubeCtrlParams* pc_params_;

  bool initialized_;
  bool stopped_;
  bool error_;
  std::string error_msg_;
  ros::Time last_publish_time_;

  PowerCubeChainNode()
  {
        n_ = ros::NodeHandle("~");

    pc_params_ = new PowerCubeCtrlParams();
    pc_ctrl_ = new PowerCubeCtrl(pc_params_);

    topicPub_JointState_ = n_.advertise<sensor_msgs::JointState> ("/joint_states", 1);
    topicPub_ControllerState_ = n_.advertise<control_msgs::JointTrajectoryControllerState> ("state", 1);
    topicPub_OperationMode_ = n_.advertise<std_msgs::String> ("current_operationmode", 1);
    topicPub_Diagnostic_ = n_.advertise<diagnostic_msgs::DiagnosticArray>("/diagnostics", 1);

    topicSub_CommandPos_ = n_.subscribe("command_pos", 1, &PowerCubeChainNode::topicCallback_CommandPos, this);
    topicSub_CommandVel_ = n_.subscribe("command_vel", 1, &PowerCubeChainNode::topicCallback_CommandVel, this);

    srvServer_Init_ = n_.advertiseService("init", &PowerCubeChainNode::srvCallback_Init, this);
    srvServer_Stop_ = n_.advertiseService("stop", &PowerCubeChainNode::srvCallback_Stop, this);
    srvServer_Recover_ = n_.advertiseService("recover", &PowerCubeChainNode::srvCallback_Recover, this);
    srvServer_SetOperationMode_ = n_.advertiseService("set_operation_mode", &PowerCubeChainNode::srvCallback_SetOperationMode, this);

    initialized_ = false;
    stopped_ = true;
    error_ = false;
    last_publish_time_ = ros::Time::now();
  }

  ~PowerCubeChainNode()
  {
          bool closed = pc_ctrl_->Close();
          if (closed)
      ROS_INFO("PowerCube Device closed!");
  }

  void getROSParameters()
  {

    std::string CanModule;
    if (n_.hasParam("can_module"))
    {
        n_.getParam("can_module", CanModule);
    }

    else
    {
        ROS_ERROR("Parameter can_module not set, shutting down node...");
                n_.shutdown();
    }

    std::string CanDevice;
    if (n_.hasParam("can_device"))
    {
        n_.getParam("can_device", CanDevice);
    }

    else
    {
        ROS_ERROR("Parameter can_device not set, shutting down node...");
                  n_.shutdown();
    }

    int CanBaudrate;
    if (n_.hasParam("can_baudrate"))
    {
        n_.getParam("can_baudrate", CanBaudrate);
    }
    else
    {
        ROS_ERROR("Parameter can_baudrate not set, shutting down node...");
        n_.shutdown();
    }

    XmlRpc::XmlRpcValue ModulIDsXmlRpc;
    std::vector<int> ModulIDs;
    if (n_.hasParam("modul_ids"))
    {
        n_.getParam("modul_ids", ModulIDsXmlRpc);
    }

    else
    {
        ROS_ERROR("Parameter modul_ids not set, shutting down node...");
        n_.shutdown();
    }

    bool UseMoveVel;
    if (n_.hasParam("force_use_movevel"))
    {
        n_.getParam("force_use_movevel", UseMoveVel);
                ROS_INFO("Parameter force_use_movevel set, using moveVel");
    }
    else
    {
        ROS_INFO("Parameter force_use_movevel not set, using moveStep");
                UseMoveVel = false;
    }
        pc_params_->SetUseMoveVel(UseMoveVel);

    ModulIDs.resize(ModulIDsXmlRpc.size());
    for (int i = 0; i < ModulIDsXmlRpc.size(); i++)
    {
        ModulIDs[i] = (int)ModulIDsXmlRpc[i];
    }

    pc_params_->Init(CanModule, CanDevice, CanBaudrate, ModulIDs);

    XmlRpc::XmlRpcValue JointNamesXmlRpc;
    std::vector<std::string> JointNames;
    if (n_.hasParam("joint_names"))
    {
        n_.getParam("joint_names", JointNamesXmlRpc);
    }

    else
    {
        ROS_ERROR("Parameter joint_names not set, shutting down node...");
        n_.shutdown();
    }

    JointNames.resize(JointNamesXmlRpc.size());
    for (int i = 0; i < JointNamesXmlRpc.size(); i++)
    {
        JointNames[i] = (std::string)JointNamesXmlRpc[i];
    }

    if ((int)JointNames.size() != pc_params_->GetDOF())
    {
        ROS_ERROR("Wrong dimensions of parameter joint_names, shutting down node...");
        n_.shutdown();
    }
    pc_params_->SetJointNames(JointNames);

    XmlRpc::XmlRpcValue MaxAccelerationsXmlRpc;
    std::vector<double> MaxAccelerations;
    if (n_.hasParam("max_accelerations"))
    {
        n_.getParam("max_accelerations", MaxAccelerationsXmlRpc);
    }

    else
    {
        ROS_ERROR("Parameter max_accelerations not set, shutting down node...");
        n_.shutdown();
    }

    MaxAccelerations.resize(MaxAccelerationsXmlRpc.size());
    for (int i = 0; i < MaxAccelerationsXmlRpc.size(); i++)
    {
        MaxAccelerations[i] = (double)MaxAccelerationsXmlRpc[i];
    }

    if ((int)MaxAccelerations.size() != pc_params_->GetDOF())
    {
        ROS_ERROR("Wrong dimensions of parameter max_accelerations, shutting down node...");
        n_.shutdown();
    }
    pc_params_->SetMaxAcc(MaxAccelerations);

    double Horizon;
    if (n_.hasParam("horizon"))
    {
        n_.getParam("horizon", Horizon);
    }

    else
    {
        Horizon = 0.05;
        ROS_WARN("Parameter horizon not available, setting to default value: %f sec", Horizon);
    }
    pc_ctrl_->setHorizon(Horizon);
  }

  void getRobotDescriptionParameters()
  {
          unsigned int DOF = pc_params_->GetDOF();
          std::vector<std::string> JointNames = pc_params_->GetJointNames();

          std::string param_name = "robot_description";
          std::string full_param_name;
          std::string xml_string;
          n_.searchParam(param_name, full_param_name);
          if (n_.hasParam(full_param_name))
          {
                  n_.getParam(full_param_name.c_str(), xml_string);
          }

          else
          {
                  ROS_ERROR("Parameter %s not set, shutting down node...", full_param_name.c_str());
                  n_.shutdown();
          }

          if (xml_string.size() == 0)
          {
                  ROS_ERROR("Unable to load robot model from parameter %s",full_param_name.c_str());
                  n_.shutdown();
          }
          ROS_DEBUG("%s content\n%s", full_param_name.c_str(), xml_string.c_str());

          urdf::Model model;
          if (!model.initString(xml_string))
          {
                  ROS_ERROR("Failed to parse urdf file");
                  n_.shutdown();
          }
          ROS_DEBUG("Successfully parsed urdf file");

          std::vector<double> MaxVelocities(DOF);
          for (unsigned int i = 0; i < DOF; i++)
          {
                  MaxVelocities[i] = model.getJoint(JointNames[i].c_str())->limits->velocity;
          }

          std::vector<double> LowerLimits(DOF);
          for (unsigned int i = 0; i < DOF; i++)
          {
                  LowerLimits[i] = model.getJoint(JointNames[i].c_str())->limits->lower;
          }

          // Get upper limits out of urdf model
          std::vector<double> UpperLimits(DOF);
          for (unsigned int i = 0; i < DOF; i++)
          {
                  UpperLimits[i] = model.getJoint(JointNames[i].c_str())->limits->upper;
          }

          std::vector<double> Offsets(DOF);
          for (unsigned int i = 0; i < DOF; i++)
          {
                  Offsets[i] = model.getJoint(JointNames[i].c_str())->calibration->rising.get()[0];
          }

          pc_params_->SetMaxVel(MaxVelocities);
          pc_params_->SetLowerLimits(LowerLimits);
          pc_params_->SetUpperLimits(UpperLimits);
          pc_params_->SetOffsets(Offsets);
  }

  void topicCallback_CommandPos(const brics_actuator::JointPositions::ConstPtr& msg)
  {
          ROS_WARN("Received new position command. Skipping command: Position commands currently not implemented");
  }

  void topicCallback_CommandVel(const brics_actuator::JointVelocities::ConstPtr& msg)
  {
          ROS_DEBUG("Received new velocity command");
          if (!initialized_)
          {     
                        ROS_WARN("Skipping command: powercubes not initialized");
                        publishState(false);
                        return; 
                }
                
                if (pc_ctrl_->getPC_Status() != PowerCubeCtrl::PC_CTRL_OK)
                {
                        publishState(false);
                        return; 
                }

 
          PowerCubeCtrl::PC_CTRL_STATUS status;
          std::vector<std::string> errorMessages;
          pc_ctrl_->getStatus(status, errorMessages);


          unsigned int DOF = pc_params_->GetDOF();
          std::vector<std::string> jointNames = pc_params_->GetJointNames();
          std::vector<double> cmd_vel(DOF);
          std::string unit = "rad";

          if (msg->velocities.size() != DOF)
          {
                  ROS_ERROR("Skipping command: Commanded velocities and DOF are not same dimension.");
                  return;
          }

          for (unsigned int i = 0; i < DOF; i++)
          {
                  if (msg->velocities[i].joint_uri != jointNames[i])
                  {
                          ROS_ERROR("Skipping command: Received joint name %s doesn't match expected joint name %s for joint %d.",msg->velocities[i].joint_uri.c_str(),jointNames[i].c_str(),i);
                          return;
                  }

                  if (msg->velocities[i].unit != unit)
                  {
                          ROS_ERROR("Skipping command: Received unit %s doesn't match expected unit %s.",msg->velocities[i].unit.c_str(),unit.c_str());
                          return;
                  }

                  ROS_DEBUG("Parsing velocity %f for joint %s",msg->velocities[i].value,jointNames[i].c_str());
                  cmd_vel[i] = msg->velocities[i].value;
          }
                
          if (!pc_ctrl_->MoveVel(cmd_vel))
          {
        error_ = true;
                        error_msg_ = pc_ctrl_->getErrorMessage();
                  ROS_ERROR("Skipping command: %s",pc_ctrl_->getErrorMessage().c_str());
                  return;
          }

          ROS_DEBUG("Executed velocity command");
         
          publishState(false);
  }

  bool srvCallback_Init(cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
  {
          if (!initialized_)
          {
                  ROS_INFO("Initializing powercubes...");

                  if (pc_ctrl_->Init(pc_params_))
                  {
                          initialized_ = true;
                          res.success.data = true;
                          ROS_INFO("...initializing powercubes successful");
                  }

                  else
                  {
                  error_ = true;
                  error_msg_ = pc_ctrl_->getErrorMessage();
                          res.success.data = false;
                          res.error_message.data = pc_ctrl_->getErrorMessage();
                          ROS_INFO("...initializing powercubes not successful. error: %s", res.error_message.data.c_str());
                  }
          }

          else
          {
                  res.success.data = true;
                  res.error_message.data = "powercubes already initialized";
                  ROS_WARN("...initializing powercubes not successful. error: %s",res.error_message.data.c_str());
          }

          return true;
  }

  bool srvCallback_Stop(cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
  {
          ROS_INFO("Stopping powercubes...");

          if (pc_ctrl_->Stop())
          {
                  res.success.data = true;
                  ROS_INFO("...stopping powercubes successful.");
          }

          else
          {
                  res.success.data = false;
                  res.error_message.data = pc_ctrl_->getErrorMessage();
                  ROS_ERROR("...stopping powercubes not successful. error: %s", res.error_message.data.c_str());
          }
          return true;
  }

  bool srvCallback_Recover(cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
  {
          ROS_INFO("Recovering powercubes...");
          if (initialized_)
          {
                  if (pc_ctrl_->Recover())
                  {
                        error_ = false;
                        error_msg_ = "";
                        res.success.data = true;
                        ROS_INFO("...recovering powercubes successful.");
                  }
                  else
                  {
                        res.success.data = false;
                        error_ = true;
                        error_msg_ = pc_ctrl_->getErrorMessage();
                        res.error_message.data = pc_ctrl_->getErrorMessage();
                        ROS_ERROR("...recovering powercubes not successful. error: %s", res.error_message.data.c_str());
                  }
          }
          else
          {
                  res.success.data = false;
                  res.error_message.data = "powercubes not initialized";
                  ROS_ERROR("...recovering powercubes not successful. error: %s",res.error_message.data.c_str());
          }

          return true;
  }

  bool srvCallback_SetOperationMode(cob_srvs::SetOperationMode::Request &req, cob_srvs::SetOperationMode::Response &res)
  {
        if(req.operation_mode.data != "velocity")
        {
                ROS_WARN("Powercube chain currently only supports velocity commands");
                res.success.data = false;
        }
        else
        {
                res.success.data = true;
        }
        return true;
  }

  void publishState(bool update=true)
  {
          if (initialized_)
          {
                  ROS_DEBUG("publish state");

                  if(update)
                        {pc_ctrl_->updateStates();}

                  sensor_msgs::JointState joint_state_msg;
                  joint_state_msg.header.stamp = ros::Time::now();
                  joint_state_msg.name = pc_params_->GetJointNames();
                  joint_state_msg.position = pc_ctrl_->getPositions();
                  joint_state_msg.velocity = pc_ctrl_->getVelocities();
                  joint_state_msg.effort.resize(pc_params_->GetDOF());

                  control_msgs::JointTrajectoryControllerState controller_state_msg;
                  controller_state_msg.header.stamp = joint_state_msg.header.stamp;
                  controller_state_msg.joint_names = pc_params_->GetJointNames();
                  controller_state_msg.actual.positions = pc_ctrl_->getPositions();
                  controller_state_msg.actual.velocities = pc_ctrl_->getVelocities();
                  controller_state_msg.actual.accelerations = pc_ctrl_->getAccelerations();

                  std_msgs::String opmode_msg;
                  opmode_msg.data = "velocity";

                  topicPub_JointState_.publish(joint_state_msg);
                  topicPub_ControllerState_.publish(controller_state_msg);
                  topicPub_OperationMode_.publish(opmode_msg);

                  last_publish_time_ = joint_state_msg.header.stamp;

          }

        // check status of PowerCube chain
        if (pc_ctrl_->getPC_Status() != PowerCubeCtrl::PC_CTRL_OK) { error_ = true; }
        
                // check status of PowerCube chain 
                if (pc_ctrl_->getPC_Status() != PowerCubeCtrl::PC_CTRL_OK) 
                {       
                        error_ = true;
                } 
                else 
                {
                        error_ = false;
                } 

    // publishing diagnotic messages
    diagnostic_msgs::DiagnosticArray diagnostics;
    diagnostics.status.resize(1);

    // set data to diagnostics
    if(error_)
    {
      diagnostics.status[0].level = 2;
      diagnostics.status[0].name = n_.getNamespace();;
      diagnostics.status[0].message =  pc_ctrl_->getErrorMessage();
    }
    else
    {
      if (initialized_)
      {
        diagnostics.status[0].level = 0;
        diagnostics.status[0].name = n_.getNamespace(); //"schunk_powercube_chain";
        diagnostics.status[0].message = "powercubechain initialized and running";
      }
      else
      {
        diagnostics.status[0].level = 1;
        diagnostics.status[0].name = n_.getNamespace(); //"schunk_powercube_chain";
        diagnostics.status[0].message = "powercubechain not initialized";
      }
    }
    // publish diagnostic message
    topicPub_Diagnostic_.publish(diagnostics);
  }
}; //PowerCubeChainNode

int main(int argc, char** argv)
{
        ros::init(argc, argv, "powercube_chain");

        // create PowerCubeChainNode
        PowerCubeChainNode pc_node;
        pc_node.getROSParameters();
        pc_node.getRobotDescriptionParameters();

        double frequency;
        if (pc_node.n_.hasParam("frequency"))
        {
                pc_node.n_.getParam("frequency", frequency);
                //frequency of driver has to be much higher then controller frequency
        }

        else
        {
                //frequency of driver has to be much higher then controller frequency
                frequency = 10; //Hz
                ROS_WARN("Parameter frequency not available, setting to default value: %f Hz", frequency);
        }

        ros::Duration min_publish_duration;
        if (pc_node.n_.hasParam("min_publish_duration"))
        {
                double sec;
                pc_node.n_.getParam("min_publish_duration", sec);
                min_publish_duration.fromSec(sec);
        }
        else
        {
                ROS_ERROR("Parameter min_publish_time not available");
                return 0;
        }

        if((1.0/min_publish_duration.toSec()) > frequency)
        {
                ROS_ERROR("min_publish_duration has to be longer then delta_t of controller frequency!");
                return 0;
        }

        ros::Rate loop_rate(frequency); // Hz
        while (pc_node.n_.ok())
        {
                if ((ros::Time::now() - pc_node.last_publish_time_) >= min_publish_duration)
                {
                        pc_node.publishState();
                }

                ros::spinOnce();
                loop_rate.sleep();
        }

        return 0;
}