towr_ros_interface.cc
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2 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
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29 
31 
32 #include <std_msgs/Int32.h>
33 
34 #include <xpp_states/convert.h>
35 #include <xpp_msgs/topic_names.h>
36 #include <xpp_msgs/TerrainInfo.h>
37 
40 #include <towr_ros/topic_names.h>
42 
43 
44 namespace towr {
45 
46 
48 {
50 
53 
54  initial_state_pub_ = n.advertise<xpp_msgs::RobotStateCartesian>
56 
57  robot_parameters_pub_ = n.advertise<xpp_msgs::RobotParameters>
59 
60  solver_ = std::make_shared<ifopt::IpoptSolver>();
61 
62  visualization_dt_ = 0.01;
63 }
64 
67 {
68  BaseState goal;
69  goal.lin.at(kPos) = xpp::Convert::ToXpp(msg.goal_lin.pos);
70  goal.lin.at(kVel) = xpp::Convert::ToXpp(msg.goal_lin.vel);
71  goal.ang.at(kPos) = xpp::Convert::ToXpp(msg.goal_ang.pos);
72  goal.ang.at(kVel) = xpp::Convert::ToXpp(msg.goal_ang.vel);
73 
74  return goal;
75 }
76 
77 void
79 {
80  // robot model
81  formulation_.model_ = RobotModel(static_cast<RobotModel::Robot>(msg.robot));
82  auto robot_params_msg = BuildRobotParametersMsg(formulation_.model_);
83  robot_parameters_pub_.publish(robot_params_msg);
84 
85  // terrain
86  auto terrain_id = static_cast<HeightMap::TerrainID>(msg.terrain);
88 
89  int n_ee = formulation_.model_.kinematic_model_->GetNumberOfEndeffectors();
92 
94 
95  // solver parameters
96  SetIpoptParameters(msg);
97 
98  // visualization
100 
101  // Defaults to /home/user/.ros/
102  std::string bag_file = "towr_trajectory.bag";
103  if (msg.optimize || msg.play_initialization) {
104  nlp_ = ifopt::Problem();
105  for (auto c : formulation_.GetVariableSets(solution))
106  nlp_.AddVariableSet(c);
107  for (auto c : formulation_.GetConstraints(solution))
109  for (auto c : formulation_.GetCosts())
110  nlp_.AddCostSet(c);
111 
112  solver_->Solve(nlp_);
113  SaveOptimizationAsRosbag(bag_file, robot_params_msg, msg, false);
114  }
115 
116  // playback using terminal commands
117  if (msg.replay_trajectory || msg.play_initialization || msg.optimize) {
118  int success = system(("rosbag play --topics "
121  + " -r " + std::to_string(msg.replay_speed)
122  + " --quiet " + bag_file).c_str());
123  }
124 
125  if (msg.plot_trajectory) {
126  int success = system(("killall rqt_bag; rqt_bag " + bag_file + "&").c_str());
127  }
128 
129  // to publish entire trajectory (e.g. to send to controller)
130  // xpp_msgs::RobotStateCartesianTrajectory xpp_msg = xpp::Convert::ToRos(GetTrajectory());
131 }
132 
133 void
135 {
136  int n_ee = formulation_.initial_ee_W_.size();
140 
141  for (int ee_towr=0; ee_towr<n_ee; ++ee_towr) {
142  int ee_xpp = ToXppEndeffector(n_ee, ee_towr).first;
143  xpp.ee_contact_.at(ee_xpp) = true;
144  xpp.ee_motion_.at(ee_xpp).p_ = formulation_.initial_ee_W_.at(ee_towr);
145  xpp.ee_forces_.at(ee_xpp).setZero(); // zero for visualization
146  }
147 
149 }
150 
151 std::vector<TowrRosInterface::XppVec>
153 {
154  std::vector<XppVec> trajectories;
155 
156  for (int iter=0; iter<nlp_.GetIterationCount(); ++iter) {
157  nlp_.SetOptVariables(iter);
158  trajectories.push_back(GetTrajectory());
159  }
160 
161  return trajectories;
162 }
163 
166 {
167  XppVec trajectory;
168  double t = 0.0;
169  double T = solution.base_linear_->GetTotalTime();
170 
171  EulerConverter base_angular(solution.base_angular_);
172 
173  while (t<=T+1e-5) {
174  int n_ee = solution.ee_motion_.size();
175  xpp::RobotStateCartesian state(n_ee);
176 
177  state.base_.lin = ToXpp(solution.base_linear_->GetPoint(t));
178 
179  state.base_.ang.q = base_angular.GetQuaternionBaseToWorld(t);
180  state.base_.ang.w = base_angular.GetAngularVelocityInWorld(t);
181  state.base_.ang.wd = base_angular.GetAngularAccelerationInWorld(t);
182 
183  for (int ee_towr=0; ee_towr<n_ee; ++ee_towr) {
184  int ee_xpp = ToXppEndeffector(n_ee, ee_towr).first;
185 
186  state.ee_contact_.at(ee_xpp) = solution.phase_durations_.at(ee_towr)->IsContactPhase(t);
187  state.ee_motion_.at(ee_xpp) = ToXpp(solution.ee_motion_.at(ee_towr)->GetPoint(t));
188  state.ee_forces_ .at(ee_xpp) = solution.ee_force_.at(ee_towr)->GetPoint(t).p();
189  }
190 
191  state.t_global_ = t;
192  trajectory.push_back(state);
193  t += visualization_dt_;
194  }
195 
196  return trajectory;
197 }
198 
199 xpp_msgs::RobotParameters
201 {
202  xpp_msgs::RobotParameters params_msg;
203  auto max_dev_xyz = model.kinematic_model_->GetMaximumDeviationFromNominal();
204  params_msg.ee_max_dev = xpp::Convert::ToRos<geometry_msgs::Vector3>(max_dev_xyz);
205 
206  auto nominal_B = model.kinematic_model_->GetNominalStanceInBase();
207  int n_ee = nominal_B.size();
208  for (int ee_towr=0; ee_towr<n_ee; ++ee_towr) {
209  Vector3d pos = nominal_B.at(ee_towr);
210  params_msg.nominal_ee_pos.push_back(xpp::Convert::ToRos<geometry_msgs::Point>(pos));
211  params_msg.ee_names.push_back(ToXppEndeffector(n_ee, ee_towr).second);
212  }
213 
214  params_msg.base_mass = model.dynamic_model_->m();
215 
216  return params_msg;
217 }
218 
219 void
220 TowrRosInterface::SaveOptimizationAsRosbag (const std::string& bag_name,
221  const xpp_msgs::RobotParameters& robot_params,
222  const TowrCommandMsg user_command_msg,
223  bool include_iterations)
224 {
225  rosbag::Bag bag;
226  bag.open(bag_name, rosbag::bagmode::Write);
227  ::ros::Time t0(1e-6); // t=0.0 throws ROS exception
228 
229  // save the a-priori fixed optimization variables
230  bag.write(xpp_msgs::robot_parameters, t0, robot_params);
231  bag.write(towr_msgs::user_command+"_saved", t0, user_command_msg);
232 
233  // save the trajectory of each iteration
234  if (include_iterations) {
235  auto trajectories = GetIntermediateSolutions();
236  int n_iterations = trajectories.size();
237  for (int i=0; i<n_iterations; ++i)
238  SaveTrajectoryInRosbag(bag, trajectories.at(i), towr_msgs::nlp_iterations_name + std::to_string(i));
239 
240  // save number of iterations the optimizer took
241  std_msgs::Int32 m;
242  m.data = n_iterations;
244  }
245 
246  // save the final trajectory
247  auto final_trajectory = GetTrajectory();
249 
250  bag.close();
251 }
252 
253 void
255  const XppVec& traj,
256  const std::string& topic) const
257 {
258  for (const auto state : traj) {
259  auto timestamp = ::ros::Time(state.t_global_ + 1e-6); // t=0.0 throws ROS exception
260 
261  xpp_msgs::RobotStateCartesian msg;
262  msg = xpp::Convert::ToRos(state);
263  bag.write(topic, timestamp, msg);
264 
265  xpp_msgs::TerrainInfo terrain_msg;
266  for (auto ee : state.ee_motion_.ToImpl()) {
267  Vector3d n = formulation_.terrain_->GetNormalizedBasis(HeightMap::Normal, ee.p_.x(), ee.p_.y());
268  terrain_msg.surface_normals.push_back(xpp::Convert::ToRos<geometry_msgs::Vector3>(n));
269  terrain_msg.friction_coeff = formulation_.terrain_->GetFrictionCoeff();
270  }
271 
272  bag.write(xpp_msgs::terrain_info, timestamp, terrain_msg);
273  }
274 }
275 
276 } /* namespace towr */
277 
DynamicModel::Ptr dynamic_model_
Quaterniond q
void SetOptVariables(int iter)
int GetIterationCount() const
static xpp_msgs::StateLin3d ToRos(const StateLin3d &xpp)
towr_ros::TowrCommand TowrCommandMsg
void AddCostSet(CostTerm::Ptr cost_set)
void publish(const boost::shared_ptr< M > &message) const
bool & at(EndeffectorID ee)
void open(std::string const &filename, uint32_t mode=bagmode::Read)
static const std::string robot_state_desired("/xpp/state_des")
const VectorXd at(Dx deriv) const
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
std::vector< xpp::RobotStateCartesian > XppVec
std::vector< PhaseDurations::Ptr > phase_durations_
ContraintPtrVec GetConstraints(const SplineHolder &spline_holder) const
::ros::Publisher initial_state_pub_
::ros::Subscriber user_command_sub_
static const std::string nlp_iterations_count("/towr/nlp_iterations_count")
double visualization_dt_
duration between two rviz visualization states.
EndeffectorsMotion ee_motion_
virtual Parameters GetTowrParameters(int n_ee, const TowrCommandMsg &msg) const =0
Formulates the actual TOWR problem to be solved.
static HeightMap::Ptr MakeTerrain(TerrainID type)
ifopt::IpoptSolver::Ptr solver_
NLP solver, could also use SNOPT.
virtual void SetTowrInitialState()=0
Sets the base state and end-effector position.
static const std::string nlp_iterations_name("/towr/nlp_iterations_name")
void close()
ContraintPtrVec GetCosts() const
Vector3d GetAngularAccelerationInWorld(double t) const
StateAng3d ang
NodeSpline::Ptr base_linear_
void UserCommandCallback(const TowrCommandMsg &msg)
static std::pair< xpp::EndeffectorID, std::string > ToXppEndeffector(int number_of_ee, int towr_ee_id)
const VectorXd p() const
std::vector< NodeSpline::Ptr > ee_force_
Eigen::Quaterniond GetQuaternionBaseToWorld(double t) const
StateLin3d lin
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
HeightMap::Ptr terrain_
NodeSpline::Ptr base_angular_
virtual BaseState GetGoalState(const TowrCommandMsg &msg) const
Vector3d GetAngularVelocityInWorld(double t) const
::ros::Publisher robot_parameters_pub_
SplineHolder solution
the solution splines linked to the opt-variables.
xpp_msgs::RobotParameters BuildRobotParametersMsg(const RobotModel &model) const
VariablePtrVec GetVariableSets(SplineHolder &spline_holder)
ifopt::Problem nlp_
the actual nonlinear program to be solved.
std::vector< XppVec > GetIntermediateSolutions()
void AddConstraintSet(ConstraintSet::Ptr constraint_set)
static const std::string user_command("/towr/user_command")
static xpp::StateLinXd ToXpp(const towr::State &towr)
void SaveOptimizationAsRosbag(const std::string &bag_name, const xpp_msgs::RobotParameters &robot_params, const TowrCommandMsg user_command_msg, bool include_iterations=false)
void SaveTrajectoryInRosbag(rosbag::Bag &, const std::vector< xpp::RobotStateCartesian > &traj, const std::string &topic) const
KinematicModel::Ptr kinematic_model_
void AddVariableSet(VariableSet::Ptr variable_set)
void write(std::string const &topic, ros::MessageEvent< T > const &event)
static const std::string terrain_info("/xpp/terrain_info")
std::vector< NodeSpline::Ptr > ee_motion_
NlpFormulation formulation_
the default formulation, can be adapted
static const std::string robot_parameters("/xpp/params")
Endeffectors< Vector3d > ee_forces_
EndeffectorsContact ee_contact_
static StateLin3d ToXpp(const xpp_msgs::StateLin3d &ros)
virtual void SetIpoptParameters(const TowrCommandMsg &msg)=0
Sets the parameters of the nonlinear programming solver IPOPT.


towr_ros
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 13 2019 02:28:05