yumi_hw_gazebo.cpp

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// Boost
#include <boost/bind.hpp>
#include <boost/shared_ptr.hpp>

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

// Gazebo
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>

// LWR sim class
#include "yumi_hw/yumi_hw_gazebo.h"

class YumiHWsimPlugin : public gazebo::ModelPlugin
{
public:

  YumiHWsimPlugin() : gazebo::ModelPlugin() {}
  virtual ~YumiHWsimPlugin()
  {
    // Disconnect from gazebo events
    gazebo::event::Events::DisconnectWorldUpdateBegin(update_connection_);
  }

  // Overloaded Gazebo entry point
  virtual void Load(gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf)
  {
    std::cout << "yumi_hw" << "Loading yumi_hw plugin" << std::endl;

    // Save pointers to the model
    parent_model_ = parent;
    sdf_ = sdf;

    // Error message if the model couldn't be found
    if (!parent_model_)
    {
      ROS_ERROR_STREAM_NAMED("loadThread","parent model is NULL");
      return;
    }

    // Check that ROS has been initialized
    if(!ros::isInitialized())
    {
      ROS_FATAL_STREAM_NAMED("yumi_hw","A ROS node for Gazebo has not been initialized, unable to load plugin. "
        << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
      return;
    }

    // Get namespace for nodehandle
    if(sdf_->HasElement("robotNamespace"))
    {
      robot_namespace_ = sdf_->GetElement("robotNamespace")->Get<std::string>();
    }
    else
    {
      robot_namespace_ = parent_model_->GetName(); // default
    }

    // Get robot_description ROS param name
    if (sdf_->HasElement("robotParam"))
    {
      robot_description_ = sdf_->GetElement("robotParam")->Get<std::string>();
    }
    else
    {
      robot_description_ = "robot_description"; // default
    }

    // Get the Gazebo simulation period
    ros::Duration gazebo_period(parent_model_->GetWorld()->GetPhysicsEngine()->GetMaxStepSize());

    // Decide the plugin control period
    if(sdf_->HasElement("controlPeriod"))
    {
      control_period_ = ros::Duration(sdf_->Get<double>("controlPeriod"));

      // Check the period against the simulation period
      if( control_period_ < gazebo_period )
      {
        ROS_ERROR_STREAM_NAMED("yumi_hw","Desired controller update period ("<<control_period_
          <<" s) is faster than the gazebo simulation period ("<<gazebo_period<<" s).");
      }
      else if( control_period_ > gazebo_period )
      {
        ROS_WARN_STREAM_NAMED("yumi_hw","Desired controller update period ("<<control_period_
          <<" s) is slower than the gazebo simulation period ("<<gazebo_period<<" s).");
      }
    }
    else
    {
      control_period_ = gazebo_period;
      ROS_DEBUG_STREAM_NAMED("yumi_hw","Control period not found in URDF/SDF, defaulting to Gazebo period of "
        << control_period_);
    }

    // Get parameters/settings for controllers from ROS param server
    model_nh_ = ros::NodeHandle(robot_namespace_);
    ROS_INFO_NAMED("yumi_hw", "Starting yumi_hw plugin in namespace: %s", robot_namespace_.c_str());


    // Read urdf from ros parameter server then
    // setup actuators and mechanism control node.
    // This call will block if ROS is not properly initialized.
    const std::string urdf_string = getURDF(robot_description_);

    // Load the YumiHWsim abstraction to interface the controllers with the gazebo model
    robot_hw_sim_.reset( new YumiHWGazebo() );
    robot_hw_sim_->create(robot_namespace_, urdf_string);
    robot_hw_sim_->setParentModel(parent_model_);
    if(!robot_hw_sim_->init())
    {
      ROS_FATAL_NAMED("yumi_hw","Could not initialize robot simulation interface");
      return;
    }

    // Create the controller manager
    ROS_INFO_STREAM_NAMED("ros_control_plugin","Loading controller_manager");
    controller_manager_.reset
      (new controller_manager::ControllerManager(robot_hw_sim_.get(), model_nh_));

    // Listen to the update event. This event is broadcast every simulation iteration.
    update_connection_ =
      gazebo::event::Events::ConnectWorldUpdateBegin
      (boost::bind(&YumiHWsimPlugin::Update, this));

    ROS_INFO_NAMED("yumi_hw", "Loaded yumi_hw.");
  }

  // Called by the world update start event
  void Update()
  {
    // Get the simulation time and period
    gazebo::common::Time gz_time_now = parent_model_->GetWorld()->GetSimTime();
    ros::Time sim_time_ros(gz_time_now.sec, gz_time_now.nsec);
    ros::Duration sim_period = sim_time_ros - last_update_sim_time_ros_;

    // Check if we should update the controllers
    if(sim_period >= control_period_) 
    {
      // Store this simulation time
      last_update_sim_time_ros_ = sim_time_ros;

      // Update the robot simulation with the state of the gazebo model
      robot_hw_sim_->read(sim_time_ros, sim_period);

      // Compute the controller commands
      controller_manager_->update(sim_time_ros, sim_period);
    }

    // Update the gazebo model with the result of the controller
    // computation
    robot_hw_sim_->write(sim_time_ros, sim_time_ros - last_write_sim_time_ros_);
    last_write_sim_time_ros_ = sim_time_ros;
  }

  // Called on world reset
  virtual void Reset()
  {
    // Reset timing variables to not pass negative update periods to controllers on world reset
    last_update_sim_time_ros_ = ros::Time();
    last_write_sim_time_ros_ = ros::Time();
  }

private:

  // Get the URDF XML from the parameter server
  std::string getURDF(std::string param_name) const
  {
    std::string urdf_string;

    // search and wait for robot_description on param server
    while (urdf_string.empty())
    {
      std::string search_param_name;
      if (model_nh_.searchParam(param_name, search_param_name))
      {
        ROS_INFO_ONCE_NAMED("YumiHWsim", "YumiHWsim plugin is waiting for model"
          " URDF in parameter [%s] on the ROS param server.", search_param_name.c_str());

        model_nh_.getParam(search_param_name, urdf_string);
      }
      else
      {
        ROS_INFO_ONCE_NAMED("YumiHWsim", "YumiHWsim plugin is waiting for model"
          " URDF in parameter [%s] on the ROS param server.", robot_description_.c_str());

        model_nh_.getParam(param_name, urdf_string);
      }

      usleep(100000);
    }
    ROS_DEBUG_STREAM_NAMED("YumiHWsim", "Recieved urdf from param server, parsing...");

    return urdf_string;
  }

  // Pointer to the model
  gazebo::physics::ModelPtr parent_model_;
  sdf::ElementPtr sdf_;

  // Pointer to the update event connection
  gazebo::event::ConnectionPtr update_connection_;

  // Node Handles
  ros::NodeHandle model_nh_;

  // Strings
  std::string robot_namespace_;
  std::string robot_description_;

  // Robot simulator interface
  std::string robot_hw_sim_type_str_;
  boost::shared_ptr<YumiHWGazebo> robot_hw_sim_;

  // Controller manager
  boost::shared_ptr<controller_manager::ControllerManager> controller_manager_;

  // Timing
  ros::Duration control_period_;
  ros::Time last_update_sim_time_ros_;
  ros::Time last_write_sim_time_ros_;

};

// Register this plugin with the simulator
GZ_REGISTER_MODEL_PLUGIN(YumiHWsimPlugin);