franka_hw_sim.cpp

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#include <angles/angles.h>
#include <controller_manager_msgs/ListControllers.h>
#include <controller_manager_msgs/SwitchController.h>
#include <franka/duration.h>
#include <franka_example_controllers/pseudo_inversion.h>
#include <franka_gazebo/franka_hw_sim.h>
#include <franka_gazebo/model_kdl.h>
#include <franka_hw/franka_hw.h>
#include <franka_hw/services.h>
#include <franka_msgs/SetEEFrame.h>
#include <franka_msgs/SetForceTorqueCollisionBehavior.h>
#include <franka_msgs/SetKFrame.h>
#include <franka_msgs/SetLoad.h>
#include <gazebo_ros_control/robot_hw_sim.h>
#include <joint_limits_interface/joint_limits_urdf.h>
#include <std_msgs/Bool.h>
#include <std_srvs/SetBool.h>
#include <Eigen/Dense>
#include <boost/algorithm/clamp.hpp>
#include <boost/optional.hpp>
#include <iostream>
#include <sstream>
#include <string>

namespace franka_gazebo {

using actionlib::SimpleActionServer;
using boost::sml::state;

FrankaHWSim::FrankaHWSim() : sm_(this->robot_state_, this->joints_) {}

bool FrankaHWSim::initSim(const std::string& robot_namespace,
                          ros::NodeHandle model_nh,
                          gazebo::physics::ModelPtr parent,
                          const urdf::Model* const urdf,
                          std::vector<transmission_interface::TransmissionInfo> transmissions) {
  model_nh.param<std::string>("arm_id", this->arm_id_, robot_namespace);
  if (this->arm_id_ != robot_namespace) {
    ROS_WARN_STREAM_NAMED(
        "franka_hw_sim",
        "Caution: Robot names differ! Read 'arm_id: "
            << this->arm_id_ << "' from parameter server but URDF defines '<robotNamespace>"
            << robot_namespace << "</robotNamespace>'. Will use '" << this->arm_id_ << "'!");
  }

  this->robot_ = parent;
  this->robot_initialized_ = false;

  this->robot_initialized_pub_ = model_nh.advertise<std_msgs::Bool>("initialized", 1);
  std_msgs::Bool msg;
  msg.data = static_cast<decltype(msg.data)>(false);
  this->robot_initialized_pub_.publish(msg);

  this->action_recovery_ = std::make_unique<SimpleActionServer<franka_msgs::ErrorRecoveryAction>>(
      model_nh, "franka_control/error_recovery",
      [&](const franka_msgs::ErrorRecoveryGoalConstPtr& goal) {
        if (this->robot_state_.robot_mode == franka::RobotMode::kUserStopped) {
          ROS_WARN_STREAM_NAMED("franka_hw_sim",
                                "Cannot recover errors since the user stop seems still pressed");
          this->action_recovery_->setSucceeded();
          return;
        }
        try {
          restartControllers();
          ROS_INFO_NAMED("franka_hw_sim", "Recovered from error");
          this->sm_.process_event(ErrorRecovery());
          this->action_recovery_->setSucceeded();
        } catch (const std::runtime_error& e) {
          ROS_WARN_STREAM_NAMED("franka_hw_sim", "Error recovery failed: " << e.what());
          this->action_recovery_->setAborted();
        }
      },
      false);
  this->action_recovery_->start();

#if GAZEBO_MAJOR_VERSION >= 8
  gazebo::physics::PhysicsEnginePtr physics = gazebo::physics::get_world()->Physics();
#else
  gazebo::physics::PhysicsEnginePtr physics = gazebo::physics::get_world()->GetPhysicsEngine();
#endif

  ROS_INFO_STREAM_NAMED("franka_hw_sim", "Using physics type " << physics->GetType());

  // Retrieve initial gravity vector from Gazebo
  // NOTE: Can be overwritten by the user via the 'gravity_vector' ROS parameter.
  auto gravity = physics->World()->Gravity();
  this->gravity_earth_ = {gravity.X(), gravity.Y(), gravity.Z()};

  model_nh.param<double>("tau_ext_lowpass_filter", this->tau_ext_lowpass_filter_,
                         kDefaultTauExtLowpassFilter);

  // Generate a list of franka_gazebo::Joint to store all relevant information
  for (const auto& transmission : transmissions) {
    if (transmission.type_ != "transmission_interface/SimpleTransmission") {
      continue;
    }
    if (transmission.joints_.empty()) {
      ROS_WARN_STREAM_NAMED("franka_hw_sim",
                            "Transmission " << transmission.name_ << " has no associated joints.");
      return false;
    }
    if (transmission.joints_.size() > 1) {
      ROS_WARN_STREAM_NAMED(
          "franka_hw_sim",
          "Transmission "
              << transmission.name_
              << " has more than one joint. Currently the franka robot hardware simulation "
              << " interface only supports one.");
      return false;
    }

    // Fill a 'Joint' struct which holds all necessary data
    auto joint = std::make_shared<franka_gazebo::Joint>();
    joint->name = transmission.joints_[0].name_;
    if (urdf == nullptr) {
      ROS_ERROR_STREAM_NAMED(
          "franka_hw_sim", "Could not find any URDF model. Was it loaded on the parameter server?");
      return false;
    }
    auto urdf_joint = urdf->getJoint(joint->name);
    if (not urdf_joint) {
      ROS_ERROR_STREAM_NAMED("franka_hw_sim",
                             "Could not get joint '" << joint->name << "' from URDF");
      return false;
    }
    joint->type = urdf_joint->type;
    joint_limits_interface::getJointLimits(urdf_joint, joint->limits);
    joint->axis = Eigen::Vector3d(urdf_joint->axis.x, urdf_joint->axis.y, urdf_joint->axis.z);

    // Get a handle to the underlying Gazebo Joint
    gazebo::physics::JointPtr handle = parent->GetJoint(joint->name);
    if (not handle) {
      ROS_ERROR_STREAM_NAMED("franka_hw_sim", "This robot has a joint named '"
                                                  << joint->name
                                                  << "' which is not in the gazebo model.");
      return false;
    }
    joint->handle = handle;
    // set the control method for finger joints to effort
    if (joint->name.find(arm_id_ + "_finger_joint") != std::string::npos) {
      joint->control_method = EFFORT;
    }
    this->joints_.emplace(joint->name, joint);
  }

  // After the joint data containers have been fully initialized and their memory address don't
  // change anymore, get the respective addresses to pass them to the handles

  for (auto& pair : this->joints_) {
    initJointStateHandle(pair.second);
  }

  // Register all supported command interfaces
  for (const auto& transmission : transmissions) {
    for (const auto& k_interface : transmission.joints_[0].hardware_interfaces_) {
      auto joint = this->joints_[transmission.joints_[0].name_];
      if (transmission.type_ == "transmission_interface/SimpleTransmission") {
        ROS_INFO_STREAM_NAMED("franka_hw_sim", "Found transmission interface of joint '"
                                                   << joint->name << "': " << k_interface);
        if (k_interface == "hardware_interface/EffortJointInterface") {
          initEffortCommandHandle(joint);
          continue;
        }
        if (k_interface == "hardware_interface/PositionJointInterface") {
          // Initiate position motion generator (PID controller)
          joint->position_controller.initParam(robot_namespace +
                                               "/motion_generators/position/gains/" + joint->name);
          initPositionCommandHandle(joint);
          continue;
        }
        if (k_interface == "hardware_interface/VelocityJointInterface") {
          // Initiate velocity motion generator (PID controller)
          joint->velocity_controller.initParam(robot_namespace +
                                               "/motion_generators/velocity/gains/" + joint->name);
          initVelocityCommandHandle(joint);
          continue;
        }
      }

      if (transmission.type_ == "franka_hw/FrankaStateInterface") {
        ROS_INFO_STREAM_NAMED("franka_hw_sim",
                              "Found transmission interface '" << transmission.type_ << "'");
        try {
          initFrankaStateHandle(this->arm_id_, *urdf, transmission);
          continue;

        } catch (const std::invalid_argument& e) {
          ROS_ERROR_STREAM_NAMED("franka_hw_sim", e.what());
          return false;
        }
      }

      if (transmission.type_ == "franka_hw/FrankaModelInterface") {
        ROS_INFO_STREAM_NAMED("franka_hw_sim",
                              "Found transmission interface '" << transmission.type_ << "'");
        double singularity_threshold;
        model_nh.param<double>("singularity_warning_threshold", singularity_threshold, -1);
        try {
          initFrankaModelHandle(this->arm_id_, *urdf, transmission, singularity_threshold);
          continue;

        } catch (const std::invalid_argument& e) {
          ROS_ERROR_STREAM_NAMED("franka_hw_sim", e.what());
          return false;
        }
      }
      ROS_WARN_STREAM_NAMED("franka_hw_sim", "Unsupported transmission interface of joint '"
                                                 << joint->name << "': " << k_interface);
    }
  }

  // After all handles have been assigned to interfaces, register them
  assert(this->eji_.getNames().size() >= 7);
  assert(this->pji_.getNames().size() == 7);
  assert(this->vji_.getNames().size() == 7);
  assert(this->jsi_.getNames().size() >= 7);
  assert(this->fsi_.getNames().size() == 1);
  assert(this->fmi_.getNames().size() == 1);

  registerInterface(&this->eji_);
  registerInterface(&this->pji_);
  registerInterface(&this->vji_);
  registerInterface(&this->jsi_);
  registerInterface(&this->fsi_);
  registerInterface(&this->fmi_);

  // Initialize ROS Services
  initServices(model_nh);
  verifier_ = std::make_unique<ControllerVerifier>(joints_, arm_id_);
  return readParameters(model_nh, *urdf);
}

void FrankaHWSim::initJointStateHandle(const std::shared_ptr<franka_gazebo::Joint>& joint) {
  this->jsi_.registerHandle(hardware_interface::JointStateHandle(joint->name, &joint->position,
                                                                 &joint->velocity, &joint->effort));
}

void FrankaHWSim::initEffortCommandHandle(const std::shared_ptr<franka_gazebo::Joint>& joint) {
  this->eji_.registerHandle(
      hardware_interface::JointHandle(this->jsi_.getHandle(joint->name), &joint->command));
}

void FrankaHWSim::initPositionCommandHandle(const std::shared_ptr<franka_gazebo::Joint>& joint) {
  this->pji_.registerHandle(
      hardware_interface::JointHandle(this->jsi_.getHandle(joint->name), &joint->desired_position));
}

void FrankaHWSim::initVelocityCommandHandle(const std::shared_ptr<franka_gazebo::Joint>& joint) {
  this->vji_.registerHandle(
      hardware_interface::JointHandle(this->jsi_.getHandle(joint->name), &joint->desired_velocity));
}

void FrankaHWSim::initFrankaStateHandle(
    const std::string& robot,
    const urdf::Model& urdf,
    const transmission_interface::TransmissionInfo& transmission) {
  if (transmission.joints_.size() != 7) {
    throw std::invalid_argument(
        "Cannot create franka_hw/FrankaStateInterface for robot '" + robot + "_robot' because " +
        std::to_string(transmission.joints_.size()) +
        " joints were found beneath the <transmission> tag, but 7 are required.");
  }

  // Initialize robot_mode to "Idle". Once a controller is started, we will switch to "Move"
  this->robot_state_.robot_mode = franka::RobotMode::kIdle;

  // Check if all joints defined in the <transmission> actually exist in the URDF
  for (const auto& joint : transmission.joints_) {
    if (not urdf.getJoint(joint.name_)) {
      throw std::invalid_argument("Cannot create franka_hw/FrankaStateInterface for robot '" +
                                  robot + "_robot' because the specified joint '" + joint.name_ +
                                  "' in the <transmission> tag cannot be found in the URDF");
    }
    ROS_DEBUG_STREAM_NAMED("franka_hw_sim",
                           "Found joint " << joint.name_ << " to belong to a Panda robot");
  }
  this->fsi_.registerHandle(franka_hw::FrankaStateHandle(robot + "_robot", this->robot_state_));
}

void FrankaHWSim::initFrankaModelHandle(
    const std::string& robot,
    const urdf::Model& urdf,
    const transmission_interface::TransmissionInfo& transmission,
    double singularity_threshold) {
  if (transmission.joints_.size() != 2) {
    throw std::invalid_argument(
        "Cannot create franka_hw/FrankaModelInterface for robot '" + robot + "_model' because " +
        std::to_string(transmission.joints_.size()) +
        " joints were found beneath the <transmission> tag, but 2 are required.");
  }

  for (const auto& joint : transmission.joints_) {
    if (not urdf.getJoint(joint.name_)) {
      if (not urdf.getJoint(joint.name_)) {
        throw std::invalid_argument("Cannot create franka_hw/FrankaModelInterface for robot '" +
                                    robot + "_model' because the specified joint '" + joint.name_ +
                                    "' in the <transmission> tag cannot be found in the URDF");
      }
    }
  }
  auto root =
      std::find_if(transmission.joints_.begin(), transmission.joints_.end(),
                   [&](const transmission_interface::JointInfo& i) { return i.role_ == "root"; });
  if (root == transmission.joints_.end()) {
    throw std::invalid_argument("Cannot create franka_hw/FrankaModelInterface for robot '" + robot +
                                "_model' because no <joint> with <role>root</root> can be found "
                                "in the <transmission>");
  }
  auto tip =
      std::find_if(transmission.joints_.begin(), transmission.joints_.end(),
                   [&](const transmission_interface::JointInfo& i) { return i.role_ == "tip"; });
  if (tip == transmission.joints_.end()) {
    throw std::invalid_argument("Cannot create franka_hw/FrankaModelInterface for robot '" + robot +
                                "_model' because no <joint> with <role>tip</role> can be found "
                                "in the <transmission>");
  }
  try {
    auto root_link = urdf.getJoint(root->name_)->parent_link_name;
    auto tip_link = urdf.getJoint(tip->name_)->child_link_name;

    this->model_ =
        std::make_unique<franka_gazebo::ModelKDL>(urdf, root_link, tip_link, singularity_threshold);

  } catch (const std::invalid_argument& e) {
    throw std::invalid_argument("Cannot create franka_hw/FrankaModelInterface for robot '" + robot +
                                "_model'. " + e.what());
  }
  this->fmi_.registerHandle(
      franka_hw::FrankaModelHandle(robot + "_model", *this->model_, this->robot_state_));
}

void FrankaHWSim::initServices(ros::NodeHandle& nh) {
  this->service_set_ee_ =
      nh.advertiseService<franka_msgs::SetEEFrame::Request, franka_msgs::SetEEFrame::Response>(
          "franka_control/set_EE_frame", [&](auto& request, auto& response) {
            ROS_INFO_STREAM_NAMED("franka_hw_sim",
                                  this->arm_id_ << ": Setting NE_T_EE transformation");
            std::copy(request.NE_T_EE.cbegin(), request.NE_T_EE.cend(),
                      this->robot_state_.NE_T_EE.begin());
            this->updateRobotStateDynamics();
            response.success = true;
            return true;
          });
  this->service_set_k_ = franka_hw::advertiseService<franka_msgs::SetKFrame>(
      nh, "franka_control/set_K_frame", [&](auto& request, auto& response) {
        ROS_INFO_STREAM_NAMED("franka_hw_sim", this->arm_id_ << ": Setting EE_T_K transformation");
        std::copy(request.EE_T_K.cbegin(), request.EE_T_K.cend(),
                  this->robot_state_.EE_T_K.begin());
        this->updateRobotStateDynamics();
        response.success = true;
        return true;
      });
  this->service_set_load_ = franka_hw::advertiseService<franka_msgs::SetLoad>(
      nh, "franka_control/set_load", [&](auto& request, auto& response) {
        ROS_INFO_STREAM_NAMED("franka_hw_sim", this->arm_id_ << ": Setting Load");
        this->robot_state_.m_load = request.mass;
        std::copy(request.F_x_center_load.cbegin(), request.F_x_center_load.cend(),
                  this->robot_state_.F_x_Cload.begin());
        std::copy(request.load_inertia.cbegin(), request.load_inertia.cend(),
                  this->robot_state_.I_load.begin());
        this->updateRobotStateDynamics();
        response.success = true;
        return true;
      });
  this->service_collision_behavior_ =
      franka_hw::advertiseService<franka_msgs::SetForceTorqueCollisionBehavior>(
          nh, "franka_control/set_force_torque_collision_behavior",
          [&](auto& request, auto& response) {
            ROS_INFO_STREAM_NAMED("franka_hw_sim", this->arm_id_ << ": Setting Collision Behavior");

            for (int i = 0; i < 7; i++) {
              std::string name = this->arm_id_ + "_joint" + std::to_string(i + 1);
              this->joints_[name]->contact_threshold =
                  request.lower_torque_thresholds_nominal.at(i);
              this->joints_[name]->collision_threshold =
                  request.upper_torque_thresholds_nominal.at(i);
            }

            std::move(request.lower_force_thresholds_nominal.begin(),
                      request.lower_force_thresholds_nominal.end(),
                      this->lower_force_thresholds_nominal_.begin());
            std::move(request.upper_force_thresholds_nominal.begin(),
                      request.upper_force_thresholds_nominal.end(),
                      this->upper_force_thresholds_nominal_.begin());

            response.success = true;
            return true;
          });
  this->service_user_stop_ =
      nh.advertiseService<std_srvs::SetBool::Request, std_srvs::SetBool::Response>(
          "franka_control/set_user_stop", [&](auto& request, auto& response) {
            this->sm_.process_event(UserStop{static_cast<bool>(request.data)});
            response.success = true;
            return true;
          });
  this->service_controller_list_ = nh.serviceClient<controller_manager_msgs::ListControllers>(
      "controller_manager/list_controllers");
  this->service_controller_switch_ = nh.serviceClient<controller_manager_msgs::SwitchController>(
      "controller_manager/switch_controller");
}

void FrankaHWSim::restartControllers() {
  // Restart controllers by stopping and starting all running ones
  auto name = this->service_controller_list_.getService();
  if (not this->service_controller_list_.waitForExistence(ros::Duration(3))) {
    throw std::runtime_error("Cannot find service '" + name +
                             "'. Is the controller_manager running?");
  }

  controller_manager_msgs::ListControllers list;
  if (not this->service_controller_list_.call(list)) {
    throw std::runtime_error("Service call '" + name + "' failed");
  }

  controller_manager_msgs::SwitchController swtch;
  for (const auto& controller : list.response.controller) {
    if (controller.state != "running") {
      continue;
    }
    swtch.request.stop_controllers.push_back(controller.name);
    swtch.request.start_controllers.push_back(controller.name);
  }
  swtch.request.start_asap = static_cast<decltype(swtch.request.start_asap)>(true);
  swtch.request.strictness = controller_manager_msgs::SwitchControllerRequest::STRICT;
  if (not this->service_controller_switch_.call(swtch) or
      not static_cast<bool>(swtch.response.ok)) {
    throw std::runtime_error("Service call '" + this->service_controller_switch_.getService() +
                             "' failed");
  }
}

void FrankaHWSim::readSim(ros::Time time, ros::Duration period) {
  for (const auto& pair : this->joints_) {
    auto joint = pair.second;
    joint->update(period);
  }
  this->updateRobotState(time);
}

double FrankaHWSim::positionControl(Joint& joint, double setpoint, const ros::Duration& period) {
  double error;
  const double kJointLowerLimit = joint.limits.min_position;
  const double kJointUpperLimit = joint.limits.max_position;
  switch (joint.type) {
    case urdf::Joint::REVOLUTE:
      angles::shortest_angular_distance_with_limits(joint.position, setpoint, kJointLowerLimit,
                                                    kJointUpperLimit, error);
      break;
    case urdf::Joint::PRISMATIC:
      error =
          boost::algorithm::clamp(setpoint - joint.position, kJointLowerLimit, kJointUpperLimit);
      break;
    default:
      std::string error_message =
          "Only revolute or prismatic joints are allowed for position control right now";
      ROS_FATAL("%s", error_message.c_str());
      throw std::invalid_argument(error_message);
  }

  return boost::algorithm::clamp(joint.position_controller.computeCommand(error, period),
                                 -joint.limits.max_effort, joint.limits.max_effort);
}

double FrankaHWSim::velocityControl(Joint& joint, double setpoint, const ros::Duration& period) {
  return boost::algorithm::clamp(
      joint.velocity_controller.computeCommand(setpoint - joint.velocity, period),
      -joint.limits.max_effort, joint.limits.max_effort);
}

void FrankaHWSim::writeSim(ros::Time /*time*/, ros::Duration period) {
  auto g = this->model_->gravity(this->robot_state_, this->gravity_earth_);

  for (auto& pair : this->joints_) {
    auto joint = pair.second;

    // Retrieve effort control command
    double effort = 0;

    // Finger joints must still be controllable from franka_gripper_sim controller
    if (not sm_.is(state<Move>) and not contains(pair.first, "finger_joint")) {
      effort = positionControl(*joint, joint->stop_position, period);
    } else if (joint->control_method == POSITION) {
      effort = positionControl(*joint, joint->desired_position, period);
    } else if (joint->control_method == VELOCITY) {
      velocityControl(*joint, joint->desired_velocity, period);
    } else if (joint->control_method == EFFORT) {
      // Feed-forward commands in effort control
      effort = joint->command;
    }

    // Check if this joint is affected by gravity compensation
    std::string prefix = this->arm_id_ + "_joint";
    if (pair.first.rfind(prefix, 0) != std::string::npos) {
      int i = std::stoi(pair.first.substr(prefix.size())) - 1;
      joint->gravity = g.at(i);
    }
    effort += joint->gravity;

    // Send control effort control command
    if (not std::isfinite(effort)) {
      ROS_WARN_STREAM_NAMED("franka_hw_sim",
                            "Command for " << joint->name << "is not finite, won't send to robot");
      continue;
    }
    joint->handle->SetForce(0, effort);
  }
}

void FrankaHWSim::eStopActive(bool /* active */) {}

bool FrankaHWSim::readParameters(const ros::NodeHandle& nh, const urdf::Model& urdf) {
  try {
    guessEndEffector(nh, urdf);

    nh.param<double>("m_load", this->robot_state_.m_load, 0);

    std::string I_load;  // NOLINT [readability-identifier-naming]
    nh.param<std::string>("I_load", I_load, "0 0 0 0 0 0 0 0 0");
    this->robot_state_.I_load = readArray<9>(I_load, "I_load");

    std::string F_x_Cload;  // NOLINT [readability-identifier-naming]
    nh.param<std::string>("F_x_Cload", F_x_Cload, "0 0 0");
    this->robot_state_.F_x_Cload = readArray<3>(F_x_Cload, "F_x_Cload");

    std::string NE_T_EE;  // NOLINT [readability-identifier-naming]
    nh.param<std::string>("NE_T_EE", NE_T_EE, "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1");
    this->robot_state_.NE_T_EE = readArray<16>(NE_T_EE, "NE_T_EE");

    std::string EE_T_K;  // NOLINT [readability-identifier-naming]
    nh.param<std::string>("EE_T_K", EE_T_K, "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1");
    this->robot_state_.EE_T_K = readArray<16>(EE_T_K, "EE_T_K");

    std::string gravity_vector;
    if (nh.getParam("gravity_vector", gravity_vector)) {
      this->gravity_earth_ = readArray<3>(gravity_vector, "gravity_vector");
    }

    // Only nominal cases supported for now
    std::vector<double> lower_torque_thresholds = franka_hw::FrankaHW::getCollisionThresholds(
        "lower_torque_thresholds_nominal", nh, {20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0});

    std::vector<double> upper_torque_thresholds = franka_hw::FrankaHW::getCollisionThresholds(
        "upper_torque_thresholds_nominal", nh, {20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0});

    this->lower_force_thresholds_nominal_ = franka_hw::FrankaHW::getCollisionThresholds(
        "lower_force_thresholds_nominal", nh, {20.0, 20.0, 20.0, 25.0, 25.0, 25.0});
    this->upper_force_thresholds_nominal_ = franka_hw::FrankaHW::getCollisionThresholds(
        "upper_force_thresholds_nominal", nh, {20.0, 20.0, 20.0, 25.0, 25.0, 25.0});

    for (int i = 0; i < 7; i++) {
      std::string name = this->arm_id_ + "_joint" + std::to_string(i + 1);
      this->joints_[name]->contact_threshold = lower_torque_thresholds.at(i);
      this->joints_[name]->collision_threshold = upper_torque_thresholds.at(i);
    }

  } catch (const std::invalid_argument& e) {
    ROS_ERROR_STREAM_NAMED("franka_hw_sim", e.what());
    return false;
  }
  updateRobotStateDynamics();
  return true;
}

void FrankaHWSim::guessEndEffector(const ros::NodeHandle& nh, const urdf::Model& urdf) {
  auto hand_link = this->arm_id_ + "_hand";
  auto hand = urdf.getLink(hand_link);
  if (hand != nullptr) {
    ROS_INFO_STREAM_NAMED("franka_hw_sim",
                          "Found link '" << hand_link
                                         << "' in URDF. Assuming it is defining the kinematics & "
                                            "inertias of a Franka Hand Gripper.");
  }

  // By absolute default unless URDF or ROS params say otherwise, assume no end-effector.
  double def_m_ee = 0;
  std::string def_i_ee = "0.0 0 0 0 0.0 0 0 0 0.0";
  std::string def_f_x_cee = "0 0 0";
  std::string def_f_t_ne = "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1";
  if (not nh.hasParam("F_T_NE") and hand != nullptr) {
    // NOTE: We cannot interprete the Joint pose from the URDF directly, because
    // its <arm_id>_link is mounted at the flange directly and not at NE
    def_f_t_ne = "0.7071 -0.7071 0 0 0.7071 0.7071 0 0 0 0 1 0 0 0 0.1034 1";
  }
  std::string F_T_NE;  // NOLINT [readability-identifier-naming]
  nh.param<std::string>("F_T_NE", F_T_NE, def_f_t_ne);
  this->robot_state_.F_T_NE = readArray<16>(F_T_NE, "F_T_NE");

  if (not nh.hasParam("m_ee") and hand != nullptr) {
    if (hand->inertial == nullptr) {
      throw std::invalid_argument("Trying to use inertia of " + hand_link +
                                  " but this link has no <inertial> tag defined in it.");
    }
    def_m_ee = hand->inertial->mass;
  }
  nh.param<double>("m_ee", this->robot_state_.m_ee, def_m_ee);

  if (not nh.hasParam("I_ee") and hand != nullptr) {
    if (hand->inertial == nullptr) {
      throw std::invalid_argument("Trying to use inertia of " + hand_link +
                                  " but this link has no <inertial> tag defined in it.");
    }
    // clang-format off
    def_i_ee = std::to_string(hand->inertial->ixx) + " " + std::to_string(hand->inertial->ixy) + " " + std::to_string(hand->inertial->ixz) + " "
             + std::to_string(hand->inertial->ixy) + " " + std::to_string(hand->inertial->iyy) + " " + std::to_string(hand->inertial->iyz) + " "
             + std::to_string(hand->inertial->ixz) + " " + std::to_string(hand->inertial->iyz) + " " + std::to_string(hand->inertial->izz);
    // clang-format on
  }
  std::string I_ee;  // NOLINT [readability-identifier-naming]
  nh.param<std::string>("I_ee", I_ee, def_i_ee);
  this->robot_state_.I_ee = readArray<9>(I_ee, "I_ee");

  if (not nh.hasParam("F_x_Cee") and hand != nullptr) {
    if (hand->inertial == nullptr) {
      throw std::invalid_argument("Trying to use inertia of " + hand_link +
                                  " but this link has no <inertial> tag defined in it.");
    }
    def_f_x_cee = std::to_string(hand->inertial->origin.position.x) + " " +
                  std::to_string(hand->inertial->origin.position.y) + " " +
                  std::to_string(hand->inertial->origin.position.z);
  }
  std::string F_x_Cee;  // NOLINT [readability-identifier-naming]
  nh.param<std::string>("F_x_Cee", F_x_Cee, def_f_x_cee);
  this->robot_state_.F_x_Cee = readArray<3>(F_x_Cee, "F_x_Cee");
}

void FrankaHWSim::updateRobotStateDynamics() {
  this->robot_state_.m_total = this->robot_state_.m_ee + this->robot_state_.m_load;

  Eigen::Map<Eigen::Matrix4d>(this->robot_state_.F_T_EE.data()) =
      Eigen::Matrix4d(this->robot_state_.F_T_NE.data()) *
      Eigen::Matrix4d(this->robot_state_.NE_T_EE.data());

  Eigen::Map<Eigen::Matrix3d>(this->robot_state_.I_total.data()) =
      shiftInertiaTensor(Eigen::Matrix3d(this->robot_state_.I_ee.data()), this->robot_state_.m_ee,
                         Eigen::Vector3d(this->robot_state_.F_x_Cload.data()));
}

void FrankaHWSim::updateRobotState(ros::Time time) {
  // This is ensured, because a FrankaStateInterface checks for at least seven joints in the URDF
  assert(this->joints_.size() >= 7);

  auto mode = this->robot_state_.robot_mode;
  for (int i = 0; i < 7; i++) {
    std::string name = this->arm_id_ + "_joint" + std::to_string(i + 1);
    const auto& joint = this->joints_.at(name);
    this->robot_state_.q[i] = joint->position;
    this->robot_state_.dq[i] = joint->velocity;
    this->robot_state_.tau_J[i] = joint->effort;
    this->robot_state_.dtau_J[i] = joint->jerk;

    this->robot_state_.q_d[i] = joint->getDesiredPosition(mode);
    this->robot_state_.dq_d[i] = joint->getDesiredVelocity(mode);
    this->robot_state_.ddq_d[i] = joint->getDesiredAcceleration(mode);
    this->robot_state_.tau_J_d[i] = joint->getDesiredTorque(mode);

    // For now we assume no flexible joints
    this->robot_state_.theta[i] = joint->position;
    this->robot_state_.dtheta[i] = joint->velocity;

    // first time initialization of the desired position
    if (not this->robot_initialized_) {
      joint->desired_position = joint->position;
      joint->stop_position = joint->position;
    }

    if (this->robot_initialized_) {
      double tau_ext = joint->effort - joint->command + joint->gravity;

      // Exponential moving average filter from tau_ext -> tau_ext_hat_filtered
      this->robot_state_.tau_ext_hat_filtered[i] =
          this->tau_ext_lowpass_filter_ * tau_ext +
          (1 - this->tau_ext_lowpass_filter_) * this->robot_state_.tau_ext_hat_filtered[i];
    }

    this->robot_state_.joint_contact[i] = static_cast<double>(joint->isInContact());
    this->robot_state_.joint_collision[i] = static_cast<double>(joint->isInCollision());
  }

  // Calculate estimated wrenches in Task frame from external joint torques with jacobians
  Eigen::Map<Eigen::Matrix<double, 7, 1>> tau_ext(this->robot_state_.tau_ext_hat_filtered.data());
  Eigen::MatrixXd j0_transpose_pinv;
  Eigen::MatrixXd jk_transpose_pinv;
  Eigen::Matrix<double, 6, 7> j0(
      this->model_->zeroJacobian(franka::Frame::kStiffness, this->robot_state_).data());
  Eigen::Matrix<double, 6, 7> jk(
      this->model_->bodyJacobian(franka::Frame::kStiffness, this->robot_state_).data());
  franka_example_controllers::pseudoInverse(j0.transpose(), j0_transpose_pinv);
  franka_example_controllers::pseudoInverse(jk.transpose(), jk_transpose_pinv);

  Eigen::VectorXd f_ext_0 = j0_transpose_pinv * tau_ext;
  Eigen::VectorXd f_ext_k = jk_transpose_pinv * tau_ext;
  Eigen::VectorXd::Map(&this->robot_state_.O_F_ext_hat_K[0], 6) = f_ext_0;
  Eigen::VectorXd::Map(&this->robot_state_.K_F_ext_hat_K[0], 6) = f_ext_k;

  for (int i = 0; i < this->robot_state_.cartesian_contact.size(); i++) {
    // Evaluate the cartesian contacts/collisions in K frame
    double fi = std::abs(f_ext_k(i));
    this->robot_state_.cartesian_contact[i] =
        static_cast<double>(fi > this->lower_force_thresholds_nominal_.at(i));
    this->robot_state_.cartesian_collision[i] =
        static_cast<double>(fi > this->upper_force_thresholds_nominal_.at(i));
  }

  this->robot_state_.control_command_success_rate = 1.0;
  this->robot_state_.time = franka::Duration(time.toNSec() / 1e6 /*ms*/);
  this->robot_state_.O_T_EE = this->model_->pose(franka::Frame::kEndEffector, this->robot_state_);
#ifdef ENABLE_BASE_ACCELERATION
  // This will always be {0,0,-9.81} on the real robot as it cannot be mounted differently for now
  this->robot_state_.O_ddP_O = this->gravity_earth_;
#endif

  std_msgs::Bool msg;
  msg.data = static_cast<decltype(msg.data)>(true);
  this->robot_initialized_ = true;
  this->robot_initialized_pub_.publish(msg);
}

bool FrankaHWSim::prepareSwitch(
    const std::list<hardware_interface::ControllerInfo>& start_list,
    const std::list<hardware_interface::ControllerInfo>& /*stop_list*/) {
  return std::all_of(start_list.cbegin(), start_list.cend(), [this](const auto& controller) {
    return verifier_->isValidController(controller);
  });
}

void FrankaHWSim::doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                           const std::list<hardware_interface::ControllerInfo>& stop_list) {
  forControlledJoint(stop_list, [](franka_gazebo::Joint& joint, const ControlMethod& /*method*/) {
    joint.control_method = boost::none;
    joint.stop_position = joint.position;
    joint.desired_position = joint.position;
    joint.desired_velocity = 0;
  });
  forControlledJoint(start_list, [](franka_gazebo::Joint& joint, const ControlMethod& method) {
    joint.control_method = method;
    // sets the desired joint position once for the effort interface
    joint.desired_position = joint.position;
    joint.desired_velocity = 0;
  });

  this->sm_.process_event(SwitchControl());
}

void FrankaHWSim::forControlledJoint(
    const std::list<hardware_interface::ControllerInfo>& controllers,
    const std::function<void(franka_gazebo::Joint& joint, const ControlMethod&)>& f) {
  for (const auto& controller : controllers) {
    if (not verifier_->isClaimingArmController(controller)) {
      continue;
    }
    for (const auto& resource : controller.claimed_resources) {
      auto control_method = ControllerVerifier::determineControlMethod(resource.hardware_interface);
      if (not control_method) {
        continue;
      }
      for (const auto& joint_name : resource.resources) {
        auto& joint = joints_.at(joint_name);
        f(*joint, control_method.value());
      }
    }
  }
}

}  // namespace franka_gazebo

PLUGINLIB_EXPORT_CLASS(franka_gazebo::FrankaHWSim, gazebo_ros_control::RobotHWSim)