cob_frame_tracker.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#include <string>
#include <algorithm>
#include <math.h>
#include <ros/ros.h>
 
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/JointState.h>
#include <cob_frame_tracker/cob_frame_tracker.h>
#include <cob_frame_tracker/FrameTrackingAction.h>
 
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>
#include <kdl/chainfksolvervel_recursive.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/jntarrayvel.hpp>
 
 
bool CobFrameTracker::initialize()
{
    ros::NodeHandle nh_;
    ros::NodeHandle nh_tracker("frame_tracker");
    ros::NodeHandle nh_twist("twist_controller");
 
    if (nh_tracker.hasParam("update_rate"))
    {    nh_tracker.getParam("update_rate", update_rate_);    }
    else
    {    update_rate_ = 50.0;    }    // hz
 
    if (nh_.hasParam("chain_base_link"))
    {
        nh_.getParam("chain_base_link", chain_base_link_);
    }
    else
    {
        ROS_ERROR("No chain_base_link specified. Aborting!");
        return false;
    }
 
    if (nh_.hasParam("chain_tip_link"))
    {
        nh_.getParam("chain_tip_link", chain_tip_link_);
    }
    else
    {
        ROS_ERROR("No chain_tip_link specified. Aborting!");
        return false;
    }
 
    if (!nh_.getParam("joint_names", joints_))
    {
        ROS_ERROR("Parameter 'joint_names' not set");
        return false;
    }
 
    KDL::Tree tree;
    if (!kdl_parser::treeFromParam("/robot_description", tree))
    {
        ROS_ERROR("Failed to construct kdl tree");
        return false;
    }
 
    tree.getChain(chain_base_link_, chain_tip_link_, chain_);
    if (chain_.getNrOfJoints() == 0)
    {
        ROS_ERROR("Failed to initialize kinematic chain");
        return false;
    }
 
    // initialize variables and current joint values and velocities
    dof_ = chain_.getNrOfJoints();
    last_q_ = KDL::JntArray(dof_);
    last_q_dot_ = KDL::JntArray(dof_);
 
    if (nh_tracker.hasParam("movable_trans"))
    {    nh_tracker.getParam("movable_trans", movable_trans_);    }
    else
    {    movable_trans_ = true;    }
    if (nh_tracker.hasParam("movable_rot"))
    {    nh_tracker.getParam("movable_rot", movable_rot_);    }
    else
    {    movable_rot_ = true;    }
 
    if (nh_tracker.hasParam("max_vel_lin"))
    {    nh_tracker.getParam("max_vel_lin", max_vel_lin_);    }
    else
    {    max_vel_lin_ = 0.1;    }    // m/sec
 
    if (nh_tracker.hasParam("max_vel_rot"))
    {    nh_tracker.getParam("max_vel_rot", max_vel_rot_);    }
    else
    {    max_vel_rot_ = 0.1;    }    // rad/sec
 
    // Load PID Controller using gains set on parameter server
    pid_controller_trans_x_.init(ros::NodeHandle(nh_tracker, "pid_trans_x"));
    pid_controller_trans_x_.reset();
    pid_controller_trans_y_.init(ros::NodeHandle(nh_tracker, "pid_trans_y"));
    pid_controller_trans_y_.reset();
    pid_controller_trans_z_.init(ros::NodeHandle(nh_tracker, "pid_trans_z"));
    pid_controller_trans_z_.reset();
 
    pid_controller_rot_x_.init(ros::NodeHandle(nh_tracker, "pid_rot_x"));
    pid_controller_rot_x_.reset();
    pid_controller_rot_y_.init(ros::NodeHandle(nh_tracker, "pid_rot_y"));
    pid_controller_rot_y_.reset();
    pid_controller_rot_z_.init(ros::NodeHandle(nh_tracker, "pid_rot_z"));
    pid_controller_rot_z_.reset();
 
    tracking_ = false;
    tracking_goal_ = false;
    lookat_ = false;
    tracking_frame_ = chain_tip_link_;
    target_frame_ = chain_tip_link_;
    lookat_focus_frame_ = "lookat_focus_frame";
 
    // ABORTION CRITERIA:
    enable_abortion_checking_ = true;
    cart_min_dist_threshold_lin_ = 0.01;
    cart_min_dist_threshold_rot_ = 0.01;
    twist_dead_threshold_lin_ = 0.05;
    twist_dead_threshold_rot_ = 0.05;
    twist_deviation_threshold_lin_ = 0.5;
    twist_deviation_threshold_rot_ = 0.5;
 
    cart_distance_ = 0.0;
    rot_distance_ = 0.0;
 
    current_twist_.Zero();
    target_twist_.Zero();
 
    abortion_counter_ = 0;
    max_abortions_ = update_rate_;    // if tracking fails for 1 second
 
    reconfigure_server_.reset(new dynamic_reconfigure::Server<cob_frame_tracker::FrameTrackerConfig>(reconfig_mutex_, nh_tracker));
    reconfigure_server_->setCallback(boost::bind(&CobFrameTracker::reconfigureCallback,   this, _1, _2));
 
    reconfigure_client_ = nh_twist.serviceClient<dynamic_reconfigure::Reconfigure>("set_parameters");
 
    jointstate_sub_ = nh_.subscribe("joint_states", 1, &CobFrameTracker::jointstateCallback, this);
    twist_pub_ = nh_twist.advertise<geometry_msgs::TwistStamped> ("command_twist_stamped", 1);
    error_pub_ = nh_twist.advertise<geometry_msgs::TwistStamped> ("controller_errors", 1);
 
    start_tracking_server_ = nh_tracker.advertiseService("start_tracking", &CobFrameTracker::startTrackingCallback, this);
    start_lookat_server_ = nh_tracker.advertiseService("start_lookat", &CobFrameTracker::startLookatCallback, this);
    stop_server_ = nh_tracker.advertiseService("stop", &CobFrameTracker::stopCallback, this);
 
    action_name_ = "tracking_action";
    as_.reset(new SAS_FrameTrackingAction_t(nh_tracker, action_name_, false));
    as_->registerGoalCallback(boost::bind(&CobFrameTracker::goalCB, this));
    as_->registerPreemptCallback(boost::bind(&CobFrameTracker::preemptCB, this));
    as_->start();
 
    timer_ = nh_.createTimer(ros::Duration(1/update_rate_), &CobFrameTracker::run, this);
    timer_.start();
 
    return true;
}
 
void CobFrameTracker::run(const ros::TimerEvent& event)
{
    ros::Duration period = event.current_real - event.last_real;
 
    if (tracking_ || tracking_goal_ || lookat_)
    {
        if (tracking_goal_)  // tracking on action goal.
        {
            int status = checkStatus();
 
            if (status > 0)
            {
                action_success();
            }
            else if (status < 0)
            {
                action_abort();
            }
            else
            {
                // action still active - publish feedback
                if (as_->isActive()) { as_->publishFeedback(action_feedback_); }
            }
        }
        else  // tracking/lookat on service call
        {
            int status = checkServiceCallStatus();
            if (status < 0)
            {
                this->publishHoldTwist(period);
            }
 
            ht_.hold = abortion_counter_ >= max_abortions_;  // only for service call in case of action ht_.hold = false. What to do with actions?
        }
 
        publishTwist(period, !ht_.hold);  // if not publishing then just update data!
    }
}
 
bool CobFrameTracker::getTransform(const std::string& from, const std::string& to, tf::StampedTransform& stamped_tf)
{
    bool transform = false;
 
    try
    {
        tf_listener_.waitForTransform(from, to, ros::Time(0), ros::Duration(0.2));
        tf_listener_.lookupTransform(from, to, ros::Time(0), stamped_tf);
        transform = true;
    }
    catch (tf::TransformException& ex)
    {
        ROS_ERROR("CobFrameTracker::getTransform: \n%s", ex.what());
    }
 
    return transform;
}
 
void CobFrameTracker::publishZeroTwist()
{
    // publish zero Twist for stopping
    geometry_msgs::TwistStamped twist_msg;
    ros::Time now = ros::Time::now();
    twist_msg.header.frame_id = tracking_frame_;
    twist_msg.header.stamp = now;
    twist_pub_.publish(twist_msg);
}
 
void CobFrameTracker::publishTwist(ros::Duration period, bool do_publish)
{
    tf::StampedTransform transform_tf;
    bool success = this->getTransform(tracking_frame_, target_frame_, transform_tf);
 
    geometry_msgs::TwistStamped twist_msg, error_msg;
    ros::Time now = ros::Time::now();
    twist_msg.header.frame_id = tracking_frame_;
    twist_msg.header.stamp = now;
    error_msg.header.frame_id = tracking_frame_;
    error_msg.header.stamp = now;
 
    if (!success)
    {
        ROS_WARN("publishTwist: failed to getTransform");
        return;
    }
 
    double error_trans_x = transform_tf.getOrigin().x();
    double error_trans_y = transform_tf.getOrigin().y();
    double error_trans_z = transform_tf.getOrigin().z();
    double error_rot_x = transform_tf.getRotation().x();
    double error_rot_y = transform_tf.getRotation().y();
    double error_rot_z = transform_tf.getRotation().z();
 
    error_msg.twist.linear.x = error_trans_x;
    error_msg.twist.linear.y = error_trans_y;
    error_msg.twist.linear.z = error_trans_z;
    error_msg.twist.angular.x = error_rot_x;
    error_msg.twist.angular.y = error_rot_y;
    error_msg.twist.angular.z = error_rot_z;
 
    if (movable_trans_)
    {
        twist_msg.twist.linear.x = pid_controller_trans_x_.computeCommand(error_trans_x, period);
        twist_msg.twist.linear.y = pid_controller_trans_y_.computeCommand(error_trans_y, period);
        twist_msg.twist.linear.z = pid_controller_trans_z_.computeCommand(error_trans_z, period);
    }
 
    if (movable_rot_)
    {
 
        twist_msg.twist.angular.x = pid_controller_rot_x_.computeCommand(error_rot_x, period);
        twist_msg.twist.angular.y = pid_controller_rot_y_.computeCommand(error_rot_y, period);
        twist_msg.twist.angular.z = pid_controller_rot_z_.computeCommand(error_rot_z, period);
    }
 
 
    // eukl distance
    cart_distance_ = sqrt(pow(transform_tf.getOrigin().x(), 2) + pow(transform_tf.getOrigin().y(), 2) + pow(transform_tf.getOrigin().z(), 2));
    rot_distance_ = sqrt(pow(transform_tf.getRotation().x(), 2) + pow(transform_tf.getRotation().y(), 2) + pow(transform_tf.getRotation().z(), 2));
 
    // rot distance
    // // TODO: change to cartesian rot
    // rot_distance_ = 2* acos(transform_msg.transform.rotation.w);
 
    // get target_twist
    target_twist_.vel.x(twist_msg.twist.linear.x);
    target_twist_.vel.y(twist_msg.twist.linear.y);
    target_twist_.vel.z(twist_msg.twist.linear.z);
    target_twist_.rot.x(twist_msg.twist.angular.x);
    target_twist_.rot.y(twist_msg.twist.angular.y);
    target_twist_.rot.z(twist_msg.twist.angular.z);
 
    if (do_publish)
    {
        twist_pub_.publish(twist_msg);
        error_pub_.publish(error_msg);
    }
}
 
void CobFrameTracker::publishHoldTwist(const ros::Duration& period)
{
    tf::StampedTransform transform_tf;
    bool success = this->getTransform(chain_base_link_, tracking_frame_, transform_tf);
 
    geometry_msgs::TwistStamped twist_msg, error_msg;
    ros::Time now = ros::Time::now();
    twist_msg.header.frame_id = tracking_frame_;
    twist_msg.header.stamp = now;
    error_msg.header.frame_id = tracking_frame_;
    error_msg.header.stamp = now;
 
    if (!this->ht_.hold)
    {
        ROS_ERROR_STREAM_THROTTLE(1, "Abortion active: Publishing zero twist");
        ht_.hold = success;
        ht_.transform_tf = transform_tf;
    }
    else
    {
        if (success)
        {
            ROS_ERROR_STREAM_THROTTLE(1, "Abortion active: Publishing hold posture twist");
 
            double error_trans_x = ht_.transform_tf.getOrigin().x() - transform_tf.getOrigin().x();
            double error_trans_y = ht_.transform_tf.getOrigin().y() - transform_tf.getOrigin().y();
            double error_trans_z = ht_.transform_tf.getOrigin().z() - transform_tf.getOrigin().z();
            double error_rot_x = ht_.transform_tf.getRotation().x() - transform_tf.getRotation().x();
            double error_rot_y = ht_.transform_tf.getRotation().y() - transform_tf.getRotation().y();
            double error_rot_z = ht_.transform_tf.getRotation().z() - transform_tf.getRotation().z();
 
            error_msg.twist.linear.x = error_trans_x;
            error_msg.twist.linear.y = error_trans_y;
            error_msg.twist.linear.z = error_trans_z;
            error_msg.twist.angular.x = error_rot_x;
            error_msg.twist.angular.y = error_rot_y;
            error_msg.twist.angular.z = error_rot_z;
 
            twist_msg.twist.linear.x = pid_controller_trans_x_.computeCommand(error_trans_x, period);
            twist_msg.twist.linear.y = pid_controller_trans_y_.computeCommand(error_trans_y, period);
            twist_msg.twist.linear.z = pid_controller_trans_z_.computeCommand(error_trans_z, period);
 
            twist_msg.twist.angular.x = pid_controller_rot_x_.computeCommand(error_rot_x, period);
            twist_msg.twist.angular.y = pid_controller_rot_y_.computeCommand(error_rot_y, period);
            twist_msg.twist.angular.z = pid_controller_rot_z_.computeCommand(error_rot_z, period);
        }
    }
 
    twist_pub_.publish(twist_msg);
    error_pub_.publish(error_msg);
}
 
bool CobFrameTracker::startTrackingCallback(cob_srvs::SetString::Request& request, cob_srvs::SetString::Response& response)
{
    if (tracking_)
    {
        std::string msg = "CobFrameTracker: StartTracking denied because Tracking already active";
        ROS_ERROR_STREAM(msg);
        response.success = false;
        response.message = msg;
    }
    else if (tracking_goal_)
    {
        std::string msg = "CobFrameTracker: StartTracking denied because TrackingAction is active";
        ROS_ERROR_STREAM(msg);
        response.success = false;
        response.message = msg;
    }
    else if (lookat_)
    {
        std::string msg = "CobFrameTracker: StartTracking denied because Lookat is active";
        ROS_ERROR_STREAM(msg);
        response.success = false;
        response.message = msg;
    }
    else
    {
        // check whether given target frame exists
        if (!tf_listener_.frameExists(request.data))
        {
            std::string msg = "CobFrameTracker: StartTracking denied because target frame '" + request.data + "' does not exist";
            ROS_ERROR_STREAM(msg);
            response.success = false;
            response.message = msg;
        }
        else
        {
            std::string msg = "CobFrameTracker: StartTracking started with CART_DIST_SECURITY MONITORING enabled";
            ROS_INFO_STREAM(msg);
            response.success = true;
            response.message = msg;
 
            tracking_ = true;
            tracking_goal_ = false;
            lookat_ = false;
            tracking_frame_ = chain_tip_link_;
            target_frame_ = request.data;
        }
    }
    return true;
}
 
bool CobFrameTracker::startLookatCallback(cob_srvs::SetString::Request& request, cob_srvs::SetString::Response& response)
{
    if (tracking_)
    {
        std::string msg = "CobFrameTracker: StartLookat denied because Tracking active";
        ROS_ERROR_STREAM(msg);
        response.success = false;
        response.message = msg;
    }
    else if (tracking_goal_)
    {
        std::string msg = "CobFrameTracker: StartLookat denied because TrackingAction is active";
        ROS_ERROR_STREAM(msg);
        response.success = false;
        response.message = msg;
    }
    else if (lookat_)
    {
        std::string msg = "CobFrameTracker: StartLookat denied because Lookat is already active";
        ROS_ERROR_STREAM(msg);
        response.success = false;
        response.message = msg;
    }
    else
    {
        // check whether given target frame exists
        if (!tf_listener_.frameExists(request.data))
        {
            std::string msg = "CobFrameTracker: StartLookat denied because target frame '" + request.data + "' does not exist";
            ROS_ERROR_STREAM(msg);
            response.success = false;
            response.message = msg;
        }
        else
        {
            dynamic_reconfigure::Reconfigure srv;
            dynamic_reconfigure::IntParameter int_param;
            int_param.name = "kinematic_extension";
            int_param.value = 4;    // LOOKAT
            srv.request.config.ints.push_back(int_param);
 
            bool success = reconfigure_client_.call(srv);
            ROS_DEBUG_STREAM("srv.request: " << srv.request << ", srv.response: " << srv.response);
 
            if (success)
            {
                success = false;
                for (std::vector<dynamic_reconfigure::IntParameter>::iterator it = srv.response.config.ints.begin() ; it != srv.response.config.ints.end(); ++it)
                {
                    if (it->name == int_param.name && it->value == int_param.value)
                    {
                        success = true;
                        break;
                    }
                }
 
                if (success)
                {
                    std::string msg = "CobFrameTracker: StartLookat started with CART_DIST_SECURITY MONITORING enabled";
                    ROS_INFO_STREAM(msg);
                    response.success = true;
                    response.message = msg;
 
                    tracking_ = false;
                    tracking_goal_ = false;
                    lookat_ = true;
                    tracking_frame_ = lookat_focus_frame_;
                    target_frame_ = request.data;
                }
                else
                {
                    std::string msg = "CobFrameTracker: StartLookat denied because DynamicReconfigure failed to set vaulues";
                    ROS_ERROR_STREAM(msg);
                    response.success = false;
                    response.message = msg;
                }
            }
            else
            {
                std::string msg = "CobFrameTracker: StartLookat denied because DynamicReconfigure failed to call service";
                ROS_ERROR_STREAM(msg);
                response.success = false;
                response.message = msg;
            }
        }
    }
    return true;
}
 
bool CobFrameTracker::stopCallback(std_srvs::Trigger::Request& request, std_srvs::Trigger::Response& response)
{
    if (tracking_goal_)
    {
        std::string msg = "CobFrameTracker: Stop denied because TrackingAction is active";
        ROS_ERROR_STREAM(msg);
        response.success = false;
        response.message = msg;
    }
    else if (tracking_ || lookat_)
    {
        if (lookat_)
        {
            // disable LOOKAT in dynamic_reconfigure server
            dynamic_reconfigure::Reconfigure srv;
            dynamic_reconfigure::IntParameter int_param;
            int_param.name = "kinematic_extension";
            int_param.value = 0;    // NO_EXTENSION
            srv.request.config.ints.push_back(int_param);
 
            if (!reconfigure_client_.call(srv))
            {
                std::string msg = "CobFrameTracker: Stop failed to disable LOOKAT_EXTENSION. Stopping anyway!";
                ROS_ERROR_STREAM(msg);
            }
        }
 
        std::string msg = "CobFrameTracker: Stop successful";
        ROS_INFO_STREAM(msg);
        response.success = true;
        response.message = msg;
 
        tracking_ = false;
        tracking_goal_ = false;
        lookat_ = false;
        tracking_frame_ = chain_tip_link_;
        target_frame_ = tracking_frame_;
 
        publishZeroTwist();
    }
    else
    {
        std::string msg = "CobFrameTracker: Stop failed because nothing was tracked";
        ROS_ERROR_STREAM(msg);
        response.success = false;
        response.message = msg;
    }
    return true;
}
 
void CobFrameTracker::goalCB()
{
    ROS_INFO("Received a new goal");
    if (as_->isNewGoalAvailable())
    {
        boost::shared_ptr<const cob_frame_tracker::FrameTrackingGoal> goal_ = as_->acceptNewGoal();
 
        if (tracking_ || lookat_)
        {
            // Goal should not be accepted
            ROS_ERROR_STREAM("CobFrameTracker: Received ActionGoal while tracking/lookat Service is active!");
        }
        else if (!tf_listener_.frameExists(goal_->tracking_frame))
        {
            // Goal should not be accepted
            ROS_ERROR_STREAM("CobFrameTracker: Received ActionGoal but target frame '" << goal_->tracking_frame << "' does not exist");
        }
        else
        {
            target_frame_ = goal_->tracking_frame;
            tracking_duration_ = goal_->tracking_duration;
            stop_on_goal_ = goal_->stop_on_goal;
            tracking_ = false;
            tracking_goal_ = true;
            lookat_ = false;
            abortion_counter_ = 0;
            tracking_start_time_ = ros::Time::now();
        }
    }
}
 
void CobFrameTracker::preemptCB()
{
    ROS_WARN("Received a preemption request");
    action_result_.success = true;
    action_result_.message = "Action has been preempted";
    as_->setPreempted(action_result_);
    tracking_ = false;
    tracking_goal_ = false;
    lookat_ = false;
    tracking_frame_ = chain_tip_link_;
    target_frame_ = tracking_frame_;
 
    publishZeroTwist();
}
 
void CobFrameTracker::action_success()
{
    ROS_INFO("Goal succeeded!");
    as_->setSucceeded(action_result_, action_result_.message);
 
    tracking_ = false;
    tracking_goal_ = false;
    lookat_ = false;
    tracking_frame_ = chain_tip_link_;
    target_frame_ = tracking_frame_;
 
    publishZeroTwist();
}
 
void CobFrameTracker::action_abort()
{
    ROS_WARN("Goal aborted");
    as_->setAborted(action_result_, action_result_.message);
 
    tracking_ = false;
    tracking_goal_ = false;
    lookat_ = false;
    tracking_frame_ = chain_tip_link_;
    target_frame_ = tracking_frame_;
 
    publishZeroTwist();
}
 
int CobFrameTracker::checkStatus()
{
    int status = 0;
 
    if (!enable_abortion_checking_)
    {
        abortion_counter_ = 0;
        return status;
    }
 
    if (ros::Time::now() > tracking_start_time_ + ros::Duration(tracking_duration_))
    {
        action_result_.success = true;
        action_result_.message = std::string("Successfully tracked goal for %f seconds", tracking_duration_);
        status = 1;
    }
 
    bool infinitesimal_twist = checkInfinitesimalTwist(current_twist_);
    bool distance_violation = checkCartDistanceViolation(cart_distance_, rot_distance_);
    bool twist_violation = checkTwistViolation(current_twist_, target_twist_);
 
    if (stop_on_goal_)
    {
        if (infinitesimal_twist && !distance_violation && !twist_violation)
        {
            action_result_.success = true;
            action_result_.message = "Successfully reached goal";
            status = 2;
        }
    }
 
    if (distance_violation || twist_violation)
    {
        ROS_ERROR_STREAM("distance_violation || twist_violation");
        abortion_counter_++;
    }
 
    if (abortion_counter_ > max_abortions_)
    {
        action_result_.success = false;
        action_result_.message = "Constraints violated. Action aborted";
        status = -1;
    }
 
    return status;
}
 
 
int CobFrameTracker::checkServiceCallStatus()
{
    int status = 0;
 
    if (!enable_abortion_checking_)
    {
        abortion_counter_ = 0;
        return status;
    }
 
    bool distance_violation = checkCartDistanceViolation(cart_distance_, rot_distance_);
 
    if (distance_violation)
    {
        abortion_counter_++;
    }
    else
    {
        abortion_counter_ = abortion_counter_ > 0 ? abortion_counter_ - 1 : 0;
    }
 
    if (abortion_counter_ >= max_abortions_)
    {
        abortion_counter_ = max_abortions_;
        status = -1;
    }
 
    return status;
}
 
 
void CobFrameTracker::jointstateCallback(const sensor_msgs::JointState::ConstPtr& msg)
{
    KDL::JntArray q_temp = last_q_;
    KDL::JntArray q_dot_temp = last_q_dot_;
    int count = 0;
    for (unsigned int j = 0; j < dof_; j++)
    {
        for (unsigned int i = 0; i < msg->name.size(); i++)
        {
            if (strcmp(msg->name[i].c_str(), joints_[j].c_str()) == 0)
            {
                q_temp(j) = msg->position[i];
                q_dot_temp(j) = msg->velocity[i];
                count++;
                break;
            }
        }
    }
    if (count == joints_.size())
    {
        last_q_ = q_temp;
        last_q_dot_ = q_dot_temp;
        KDL::FrameVel FrameVel;
        KDL::JntArrayVel jntArrayVel = KDL::JntArrayVel(last_q_, last_q_dot_);
        jntToCartSolver_vel_.reset(new KDL::ChainFkSolverVel_recursive(chain_));
        int ret = jntToCartSolver_vel_->JntToCart(jntArrayVel, FrameVel, -1);
        if (ret >= 0)
        {
            KDL::Twist twist = FrameVel.GetTwist();
            current_twist_ = twist;
        }
        else
        {
            ROS_ERROR("ChainFkSolverVel failed!");
        }
    }
}
 
void CobFrameTracker::reconfigureCallback(cob_frame_tracker::FrameTrackerConfig& config, uint32_t level)
{
    enable_abortion_checking_ = config.enable_abortion_checking;
    cart_min_dist_threshold_lin_ = config.cart_min_dist_threshold_lin;
    cart_min_dist_threshold_rot_ = config.cart_min_dist_threshold_rot;
    twist_dead_threshold_lin_ = config.twist_dead_threshold_lin;
    twist_dead_threshold_rot_ = config.twist_dead_threshold_rot;
    twist_deviation_threshold_lin_ = config.twist_deviation_threshold_lin;
    twist_deviation_threshold_rot_ = config.twist_deviation_threshold_rot;
}
 
bool CobFrameTracker::checkInfinitesimalTwist(const KDL::Twist current)
{
    if (fabs(current.vel.x()) > twist_dead_threshold_lin_)
    {
        return false;
    }
    if (fabs(current.vel.y()) > twist_dead_threshold_lin_)
    {
        return false;
    }
    if (fabs(current.vel.z()) > twist_dead_threshold_lin_)
    {
        return false;
    }
    if (fabs(current.rot.x()) > twist_dead_threshold_rot_)
    {
        return false;
    }
    if (fabs(current.rot.y()) > twist_dead_threshold_rot_)
    {
        return false;
    }
    if (fabs(current.rot.z()) > twist_dead_threshold_rot_)
    {
        return false;
    }
 
    return true;
}
 
bool CobFrameTracker::checkCartDistanceViolation(const double dist, const double rot)
{
    if (dist > cart_min_dist_threshold_lin_)
    {
        return true;
    }
    if (rot > cart_min_dist_threshold_rot_)
    {
        return true;
    }
 
    return false;
}
 
bool CobFrameTracker::checkTwistViolation(const KDL::Twist current, const KDL::Twist target)
{
    if (fabs(current.vel.x() - target.vel.x()) > twist_deviation_threshold_lin_)
    {
        return true;
    }
    if (fabs(current.vel.y() - target.vel.y()) > twist_deviation_threshold_lin_)
    {
        return true;
    }
    if (fabs(current.vel.z() - target.vel.z()) > twist_deviation_threshold_lin_)
    {
        return true;
    }
    if (fabs(current.rot.x() - target.rot.x()) > twist_deviation_threshold_rot_)
    {
        return true;
    }
    if (fabs(current.rot.y() - target.rot.y()) > twist_deviation_threshold_rot_)
    {
        return true;
    }
    if (fabs(current.rot.z() - target.rot.z()) > twist_deviation_threshold_rot_)
    {
        return true;
    }
 
    return false;
}