mechanical_calibration_controller.cpp

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//
// Created by qiayuan on 5/16/21.
//
 
#include "rm_calibration_controllers/mechanical_calibration_controller.h"
 
#include <pluginlib/class_list_macros.hpp>
 
namespace rm_calibration_controllers
{
bool MechanicalCalibrationController::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& root_nh,
                                           ros::NodeHandle& controller_nh)
{
  CalibrationBase::init(robot_hw, root_nh, controller_nh);
  is_return_ = is_center_ = false;
  controller_nh.getParam("center", is_center_);
  if (!controller_nh.getParam("velocity/vel_threshold", velocity_threshold_))
  {
    ROS_ERROR("Velocity threshold was not specified (namespace: %s)", controller_nh.getNamespace().c_str());
    return false;
  }
  if (velocity_threshold_ < 0)
  {
    velocity_threshold_ *= -1.;
    ROS_ERROR("Negative velocity threshold is not supported for joint %s. Making the velocity threshold positive.",
              velocity_ctrl_.getJointName().c_str());
  }
  if (controller_nh.hasParam("return"))
  {
    ros::NodeHandle nh_return(controller_nh, "return");
    position_ctrl_.init(robot_hw->get<hardware_interface::EffortJointInterface>(), nh_return);
    if (!nh_return.getParam("target_position", target_position_))
    {
      ROS_ERROR("Position value was not specified (namespace: %s)", nh_return.getNamespace().c_str());
      return false;
    }
    if (!nh_return.getParam("pos_threshold", position_threshold_))
    {
      ROS_ERROR("Position value was not specified (namespace: %s)", nh_return.getNamespace().c_str());
      return false;
    }
    is_return_ = true;
    calibration_success_ = false;
  }
  return true;
}
 
void MechanicalCalibrationController::update(const ros::Time& time, const ros::Duration& period)
{
  switch (state_)
  {
    case INITIALIZED:
    {
      velocity_ctrl_.setCommand(velocity_search_);
      countdown_ = 100;
      state_ = MOVING_POSITIVE;
      break;
    }
    case MOVING_POSITIVE:
    {
      if (std::abs(velocity_ctrl_.joint_.getVelocity()) < velocity_threshold_ && !actuator_.getHalted())
        countdown_--;
      else
        countdown_ = 100;
      if (countdown_ < 0)
      {
        velocity_ctrl_.setCommand(0);
        if (!is_center_)
        {
          actuator_.setOffset(-actuator_.getPosition() + actuator_.getOffset());
          actuator_.setCalibrated(true);
          ROS_INFO("Joint %s calibrated", velocity_ctrl_.getJointName().c_str());
          state_ = CALIBRATED;
          if (is_return_)
          {
            position_ctrl_.setCommand(target_position_);
          }
          else
          {
            velocity_ctrl_.joint_.setCommand(0.);
            calibration_success_ = true;
          }
        }
        else
        {
          positive_position_ = actuator_.getPosition();
          countdown_ = 100;
          velocity_ctrl_.setCommand(-velocity_search_);
          state_ = MOVING_NEGATIVE;
        }
      }
      velocity_ctrl_.update(time, period);
      break;
    }
    case MOVING_NEGATIVE:
    {
      if (std::abs(velocity_ctrl_.joint_.getVelocity()) < velocity_threshold_)
        countdown_--;
      else
        countdown_ = 100;
      if (countdown_ < 0)
      {
        velocity_ctrl_.setCommand(0);
        negative_position_ = actuator_.getPosition();
        actuator_.setOffset(-(positive_position_ + negative_position_) / 2 + actuator_.getOffset());
        actuator_.setCalibrated(true);
        ROS_INFO("Joint %s calibrated", velocity_ctrl_.getJointName().c_str());
        state_ = CALIBRATED;
        if (is_return_)
          position_ctrl_.setCommand(target_position_);
        else
        {
          velocity_ctrl_.joint_.setCommand(0.);
          calibration_success_ = true;
        }
      }
      velocity_ctrl_.update(time, period);
      break;
    }
    case CALIBRATED:
    {
      if (is_return_)
      {
        if ((std::abs(position_ctrl_.joint_.getPosition() - target_position_)) < position_threshold_)
          calibration_success_ = true;
        position_ctrl_.update(time, period);
      }
      else
        velocity_ctrl_.update(time, period);
      break;
    }
  }
}
}  // namespace rm_calibration_controllers
 
PLUGINLIB_EXPORT_CLASS(rm_calibration_controllers::MechanicalCalibrationController, controller_interface::ControllerBase)