The qbrobotics Device HardWare interface extends the hardware_interface::RobotHW by providing all the common structures to manage the communication with both the qbhand and qbmove devices. More...

#include <qb_device_hardware_interface.h>

Inheritance diagram for qb_device_hardware_interface::qbDeviceHW:

[legend]

Public Member Functions
int	getDeviceId ()

std::string	getDeviceNamespace ()

virtual std::vector< std::string >	getJoints ()=0
	This pure virtual method has to be redefined by derived classes to return the controlled joint names vector. More...

bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override
	The init function is called to initialize the RobotHW from a non-realtime thread. More...

	qbDeviceHW (qb_device_transmission_interface::TransmissionPtr transmission, const std::vector< std::string > &actuators, const std::vector< std::string > &joints)
	Initialize HW resources and interfaces, and wait until it is initialized from the Communication Handler. More...

void	read (const ros::Time &time, const ros::Duration &period) override
	Read actuator state from the hardware, propagate it to joint states and publish the whole device state to a namespaced `"~state"` topic (each instance of qbDeviceHW should publish on its own topic). More...

void	write (const ros::Time &time, const ros::Duration &period) override
	Enforce joint limits for all registered joint limit interfaces, propagate joint commands to actuators, and send actuator commands to the hardware. More...

	~qbDeviceHW () override
	Deactivate motors and stop the async spinner. More...

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

	RobotHW ()

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Protected Member Functions
virtual int	activateMotors ()
	Call the service to activate the device motors and wait for the response. More...

virtual int	deactivateMotors ()
	Call the service to deactivate the device motors and wait for the response. More...

virtual std::string	getInfo ()
	Call the service to retrieve the printable configuration setup of the device and wait for the response. More...

virtual int	getMeasurements (std::vector< double > &positions, std::vector< double > &currents, ros::Time &stamp)
	Call the service to retrieve device measurements (both positions and currents) and wait for the response. More...

virtual int	initializeDevice ()
	Call the service to initialize the device with parameters from the Communication Handler and wait for the response. More...

virtual int	setCommands (const std::vector< double > &commands)
	Call the service to send reference commands to the device and wait for the response. More...

Protected Attributes
qb_device_hardware_interface::qbDeviceHWResources	actuators_

qb_device_hardware_interface::qbDeviceResources	device_

qb_device_msgs::Info	device_info_

qb_device_hardware_interface::qbDeviceHWInterfaces	interfaces_

qb_device_joint_limits_interface::qbDeviceJointLimitsResources	joint_limits_

qb_device_hardware_interface::qbDeviceHWResources	joints_

ros::NodeHandle	node_handle_

std::map< std::string, ros::ServiceClient >	services_

ros::AsyncSpinner	spinner_

ros::Publisher	state_publisher_

qb_device_transmission_interface::qbDeviceTransmissionResources	transmission_

urdf::Model	urdf_model_

bool	use_simulator_mode_

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Private Member Functions
std::vector< std::string >	addNamespacePrefix (const std::vector< std::string > &vector)
	Add the namespace prefix stored in the private `namespace_` to all the elements of the given vector. More...

void	initializeServicesAndWait ()
	Subscribe to all the services advertised by the Communication Handler and wait until all the services are properly advertised. More...

void	publish ()
	Construct a `qb_device_msgs::StateStamped` message of the whole device state with the data retrieved during the `read()` and publish it to a namespaced `"~state"` topic. More...

void	resetServicesAndWait (const bool &reinitialize_device=true)
	Re-subscribe to all the services advertised by the Communication Handler and wait until all the services are properly advertised. More...

void	waitForInitialization ()
	Wait until the device is initialized. More...

void	waitForServices ()
	Wait until all the services advertised by the Communication Handler are active, then reinitialize the device to avoid disconnection problems. More...

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Detailed Description

The qbrobotics Device HardWare interface extends the hardware_interface::RobotHW by providing all the common structures to manage the communication with both the qbhand and qbmove devices.

The few differences among them are implemented in the two device-specific derived classes, qbHandHW and qbMoveHW. In detail, this class initialize all the ROS service clients needed to talk to the Communication Handler which is the intermediary for the serial communication with the physical devices. The core part is given by the two overridden function of the hardware_interface::RobotHW base class, i.e. read() and write(), which are meant to be used in the control loop.

See also: qb_hand_hardware_interface::qbHandHW, qb_move_hardware_interface::qbMoveHW

Definition at line 64 of file qb_device_hardware_interface.h.

Constructor & Destructor Documentation

qbDeviceHW::qbDeviceHW	(	qb_device_transmission_interface::TransmissionPtr	transmission,
		const std::vector< std::string > &	actuators,
		const std::vector< std::string > &	joints
	)

Initialize HW resources and interfaces, and wait until it is initialized from the Communication Handler.

If the Communication Handler is not running, wait forever. The three given parameters are strictly device-dependent, i.e. the qbhand specific transmission differs from the qbmove one, and the actuator and joint names depend not only on the device type, but also on the whole robot_description extracted from the URDF model. For example each qbmove of a given chain has its own namespace to avoid name clashes.

Parameters

transmission	The shared pointer to the current transmission derived from `transmission_interface::Transmission`.
actuators	The actuator names in the `robot_description`.
joints	The joint names in the `robot_description`.

See also: initializeInterfaces(), initializeResources(), waitForInitialization(), waitForServices()

Definition at line 32 of file qb_device_hardware_interface.cpp.

qbDeviceHW::~qbDeviceHW ( )

override

Deactivate motors and stop the async spinner.

Definition at line 41 of file qb_device_hardware_interface.cpp.

Member Function Documentation

int qbDeviceHW::activateMotors ( )

protectedvirtual

Call the service to activate the device motors and wait for the response.

Returns: 0 on success.

See also: deactivateMotors()

Definition at line 46 of file qb_device_hardware_interface.cpp.

std::vector< std::string > qbDeviceHW::addNamespacePrefix ( const std::vector< std::string > & vector )

private

Add the namespace prefix stored in the private namespace_ to all the elements of the given vector.

Parameters

vector Any vector of strings.

Returns: The namespaced vector.

Definition at line 64 of file qb_device_hardware_interface.cpp.

int qbDeviceHW::deactivateMotors ( )

protectedvirtual

Call the service to deactivate the device motors and wait for the response.

Returns: 0 on success.

See also: activateMotors()

Definition at line 75 of file qb_device_hardware_interface.cpp.

int qb_device_hardware_interface::qbDeviceHW::getDeviceId ( )

inline

Returns: The device ID, in range [1, 128].

Definition at line 87 of file qb_device_hardware_interface.h.

std::string qb_device_hardware_interface::qbDeviceHW::getDeviceNamespace ( )

inline

Returns: The device namespace used to avoid name clashes among same-type devices.

Definition at line 92 of file qb_device_hardware_interface.h.

std::string qbDeviceHW::getInfo ( )

protectedvirtual

Call the service to retrieve the printable configuration setup of the device and wait for the response.

Returns: The configuration setup formatted as a plain text string (empty string on error).

Definition at line 93 of file qb_device_hardware_interface.cpp.

virtual std::vector<std::string> qb_device_hardware_interface::qbDeviceHW::getJoints ( )

pure virtual

This pure virtual method has to be redefined by derived classes to return the controlled joint names vector.

Returns: The vector of controller joint names.

int qbDeviceHW::getMeasurements	(	std::vector< double > &	positions,
		std::vector< double > &	currents,
		ros::Time &	stamp
	)

protectedvirtual

Call the service to retrieve device measurements (both positions and currents) and wait for the response.

When data is received, correct the positions direction with the motor_axis_direction.

Parameters

[out]	positions	The device position vector, expressed in ticks: if the device is a qbhand only the first element is filled while the others remain always `0`; in the case of a qbmove all the elements contain relevant data, i.e. the positions respectively of `motor_1`, `motor_2` and `motor_shaft` (which is not directly actuated).
[out]	currents	The two-element device motor current vector, expressed in mA: if the device is a qbhand only the first element is filled while the other remains always `0`; in the case of a qbmove both the elements contain relevant data, i.e. the currents respectively of `motor_1` and `motor_2`.
[out]	stamp	The time stamp of the retrieved measurements (it is set by the process which does the read).

Returns: 0 on success.

See also: setCommands()

Definition at line 110 of file qb_device_hardware_interface.cpp.

bool qbDeviceHW::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

overridevirtual

The init function is called to initialize the RobotHW from a non-realtime thread.

In particular it build the HW resources, retrieve the robot_description from the Parameter Server, and initialize the hardware_interface, the joint_limit_interface, and the transmission_interface. If everything goes as expected it also initialize the current device with the parameters retrieve from the Communication Handler.

Parameters

root_nh	A NodeHandle in the root of the caller namespace.
robot_hw_nh	A NodeHandle in the namespace from which the RobotHW should read its configuration.

Returns: true on success.

Reimplemented from hardware_interface::RobotHW.

Definition at line 139 of file qb_device_hardware_interface.cpp.

int qbDeviceHW::initializeDevice ( )

protectedvirtual

Call the service to initialize the device with parameters from the Communication Handler and wait for the response.

If the initializaation succeed, store the device parameters received, e.g. position_limits. It can additionally activate motors during the initialization process, if specified in the Parameter Server.

Returns: 0 on success.

See also: waitForInitialization()

Definition at line 171 of file qb_device_hardware_interface.cpp.

void qbDeviceHW::initializeServicesAndWait ( )

private

Subscribe to all the services advertised by the Communication Handler and wait until all the services are properly advertised.

See also: resetServicesAndWait(), waitForServices()

Definition at line 213 of file qb_device_hardware_interface.cpp.

void qbDeviceHW::publish ( )

private

Construct a qb_device_msgs::StateStamped message of the whole device state with the data retrieved during the read() and publish it to a namespaced "~state" topic.

See also: read()

Definition at line 223 of file qb_device_hardware_interface.cpp.

void qbDeviceHW::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Read actuator state from the hardware, propagate it to joint states and publish the whole device state to a namespaced "~state" topic (each instance of qbDeviceHW should publish on its own topic).

Parameters

time	The current time.
period	The time passed since the last call to this method, i.e. the control period.

See also: getMeasurements(), publish()

Reimplemented from hardware_interface::RobotHW.

Definition at line 255 of file qb_device_hardware_interface.cpp.

void qbDeviceHW::resetServicesAndWait ( const bool & reinitialize_device = true )

private

Re-subscribe to all the services advertised by the Communication Handler and wait until all the services are properly advertised.

Then re-initialize the device parameters (it is assumed that the this method can be called only if the device was previously initialized), unless otherwise specified.

Parameters

reinitialize_device If true, i.e. by default, reinitialize the device.

See also: initializeServicesAndWait(), waitForInitialization(), waitForServices()

Definition at line 280 of file qb_device_hardware_interface.cpp.

int qbDeviceHW::setCommands ( const std::vector< double > & commands )

protectedvirtual

Call the service to send reference commands to the device and wait for the response.

Before sending the references, correct their direction with the motor_axis_direction.

Parameters

commands The reference command vector, expressed in ticks: if the device is a qbhand only the first element is meaningful while the other remains always 0; in the case of a qbmove both the elements contain relevant data, i.e. the commands respectively of motor_1 and motor_2.

Returns: 0 on success.

See also: getMeasurements()

Definition at line 289 of file qb_device_hardware_interface.cpp.

void qbDeviceHW::waitForInitialization ( )

private

Wait until the device is initialized.

See also: initializeDevice()

Definition at line 313 of file qb_device_hardware_interface.cpp.

void qbDeviceHW::waitForServices ( )

private

Wait until all the services advertised by the Communication Handler are active, then reinitialize the device to avoid disconnection problems.

See also: initializeServicesAndWait(), resetServicesAndWait()

Definition at line 319 of file qb_device_hardware_interface.cpp.

void qbDeviceHW::write	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Enforce joint limits for all registered joint limit interfaces, propagate joint commands to actuators, and send actuator commands to the hardware.

Parameters

time	The current time.
period	The time passed since the last call to this method, i.e. the control period.

See also: qb_device_joint_limits_interface::qbDeviceJointLimitsResources::enforceLimits(), setCommands()

Reimplemented from hardware_interface::RobotHW.

Definition at line 326 of file qb_device_hardware_interface.cpp.

Member Data Documentation

qb_device_hardware_interface::qbDeviceHWResources qb_device_hardware_interface::qbDeviceHW::actuators_

protected

Definition at line 136 of file qb_device_hardware_interface.h.

qb_device_hardware_interface::qbDeviceResources qb_device_hardware_interface::qbDeviceHW::device_

protected

Definition at line 135 of file qb_device_hardware_interface.h.

qb_device_msgs::Info qb_device_hardware_interface::qbDeviceHW::device_info_

protected

Definition at line 134 of file qb_device_hardware_interface.h.

qb_device_hardware_interface::qbDeviceHWInterfaces qb_device_hardware_interface::qbDeviceHW::interfaces_

protected

Definition at line 138 of file qb_device_hardware_interface.h.

qb_device_joint_limits_interface::qbDeviceJointLimitsResources qb_device_hardware_interface::qbDeviceHW::joint_limits_

protected

Definition at line 139 of file qb_device_hardware_interface.h.

qb_device_hardware_interface::qbDeviceHWResources qb_device_hardware_interface::qbDeviceHW::joints_

protected

Definition at line 137 of file qb_device_hardware_interface.h.

ros::NodeHandle qb_device_hardware_interface::qbDeviceHW::node_handle_

protected

Definition at line 131 of file qb_device_hardware_interface.h.

std::map<std::string, ros::ServiceClient> qb_device_hardware_interface::qbDeviceHW::services_

protected

Definition at line 133 of file qb_device_hardware_interface.h.

ros::AsyncSpinner qb_device_hardware_interface::qbDeviceHW::spinner_

protected

Definition at line 130 of file qb_device_hardware_interface.h.

ros::Publisher qb_device_hardware_interface::qbDeviceHW::state_publisher_

protected

Definition at line 132 of file qb_device_hardware_interface.h.

qb_device_transmission_interface::qbDeviceTransmissionResources qb_device_hardware_interface::qbDeviceHW::transmission_

protected

Definition at line 140 of file qb_device_hardware_interface.h.

urdf::Model qb_device_hardware_interface::qbDeviceHW::urdf_model_

protected

Definition at line 141 of file qb_device_hardware_interface.h.

bool qb_device_hardware_interface::qbDeviceHW::use_simulator_mode_

protected

Definition at line 142 of file qb_device_hardware_interface.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation