joint_trajectory_action.cpp

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#include <ros/ros.h>
#include <actionlib/server/action_server.h>

#include <trajectory_msgs/JointTrajectory.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <control_msgs/FollowJointTrajectoryFeedback.h>

const double DEFAULT_GOAL_THRESHOLD = 0.01;
const std::string JOINT_TRAJECTORY_ACTION_PARAM_NAME = "joint_trajectory_action/joints";

class JointTrajectoryExecuter
{
private:
  typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> JTAS;
  typedef JTAS::GoalHandle GoalHandle;
public:
  JointTrajectoryExecuter(ros::NodeHandle &n) :
    node_(n),
    action_server_(node_, "joint_trajectory_action",
                   boost::bind(&JointTrajectoryExecuter::goalCB, this, _1),
                   boost::bind(&JointTrajectoryExecuter::cancelCB, this, _1),
                   false),
    has_active_goal_(false)
  {
    using namespace XmlRpc;
    ros::NodeHandle pn("~");

    fetchParameters(ros::this_node::getNamespace());


    pub_controller_command_ =
      node_.advertise<trajectory_msgs::JointTrajectory>("command", 1);
    sub_controller_state_ =
      node_.subscribe("feedback_states", 1, &JointTrajectoryExecuter::controllerStateCB, this);

    action_server_.start();
  }

  void fetchParameters(std::string nameSpace="")
  {
          XmlRpc::XmlRpcValue jointNames;
          ros::NodeHandle nh;

          if(nh.getParam(nameSpace + "/" + JOINT_TRAJECTORY_ACTION_PARAM_NAME,jointNames))
          {
                  if(jointNames.size() == 0)
                  {
                          ROS_ERROR_STREAM(ros::this_node::getName()<<
                                          ": Found 0 joints under parameter "<<JOINT_TRAJECTORY_ACTION_PARAM_NAME);
                          ros::shutdown();
                  }
          }
          else
          {
                  ROS_ERROR_STREAM(ros::this_node::getName()<<
                                  ": Could not find joint definitions under parameter "<<JOINT_TRAJECTORY_ACTION_PARAM_NAME);
                  ros::shutdown();
          }

          joint_names_.clear();
          for(int i = 0; i < jointNames.size(); i++)
          {
                  std::string name = static_cast<std::string>(jointNames[i]);
                  joint_names_.push_back(name);
          }

          // Gets the constraints for each joint.
          goal_constraints_.clear();
          for (size_t i = 0; i < joint_names_.size(); ++i)
          {
                std::string ns = std::string("constraints/") + joint_names_[i];
                double g, t;
                nh.param(ns + "/goal", g, DEFAULT_GOAL_THRESHOLD);
                nh.param(ns + "/trajectory", t, -1.0);
                goal_constraints_[joint_names_[i]] = g;
                trajectory_constraints_[joint_names_[i]] = t;
          }

          nh.param("constraints/stopped_velocity_tolerance", stopped_velocity_tolerance_, 0.01);

  }

  ~JointTrajectoryExecuter()
  {
   pub_controller_command_.shutdown();
    sub_controller_state_.shutdown();
    watchdog_timer_.stop();
  }

  bool withinGoalConstraints(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg,
                             const std::map<std::string, double>& constraints,
                             const trajectory_msgs::JointTrajectory& traj) {
    ROS_DEBUG("Checking goal contraints");
    int last = traj.points.size() - 1;
    for (size_t i = 0; i < msg->joint_names.size(); ++i)
    {
      double abs_error = fabs(msg->actual.positions[i]-traj.points[last].positions[i]);
      double goal_constraint = constraints.at(msg->joint_names[i]);
      if (goal_constraint >= 0 && abs_error > goal_constraint)
      {
        ROS_DEBUG("Bad constraint: %f, abs_errs: %f", goal_constraint, abs_error);
        return false;
      }
      ROS_DEBUG("Checking constraint: %f, abs_errs: %f", goal_constraint, abs_error);
    }
    return true;
  }

private:

  static bool setsEqual(const std::vector<std::string> &a, const std::vector<std::string> &b)
  {
    if (a.size() != b.size())
      return false;

    for (size_t i = 0; i < a.size(); ++i)
    {
      if (count(b.begin(), b.end(), a[i]) != 1)
        return false;
    }
    for (size_t i = 0; i < b.size(); ++i)
    {
      if (count(a.begin(), a.end(), b[i]) != 1)
        return false;
    }

    return true;
  }

  void watchdog(const ros::TimerEvent &e)
  {
    ros::Time now = ros::Time::now();

    // Aborts the active goal if the controller does not appear to be active.
    if (has_active_goal_)
    {
      bool should_abort = false;
      if (!last_controller_state_)
      {
        should_abort = true;
        ROS_WARN("Aborting goal because we have never heard a controller state message.");
      }
      else if ((now - last_controller_state_->header.stamp) > ros::Duration(5.0))
      {
        should_abort = true;
        ROS_WARN("Aborting goal because we haven't heard from the controller in %.3lf seconds",
                 (now - last_controller_state_->header.stamp).toSec());
      }

      if (should_abort)
      {
        // Stops the controller.
        trajectory_msgs::JointTrajectory empty;
        empty.joint_names = joint_names_;
        pub_controller_command_.publish(empty);

        // Marks the current goal as aborted.
        active_goal_.setAborted();
        has_active_goal_ = false;
      }
    }
  }

  void goalCB(GoalHandle gh)
  {
    // Ensures that the joints in the goal match the joints we are commanding.
    ROS_DEBUG("Received goal: goalCB");
    if (!setsEqual(joint_names_, gh.getGoal()->trajectory.joint_names))
    {
      ROS_ERROR("Joints on incoming goal don't match our joints");
      gh.setRejected();
      return;
    }

    // Cancels the currently active goal.
    if (has_active_goal_)
    {
      ROS_DEBUG("Received new goal, canceling current goal");
      // Stops the controller.
      trajectory_msgs::JointTrajectory empty;
      empty.joint_names = joint_names_;
      pub_controller_command_.publish(empty);

      // Marks the current goal as canceled.
      active_goal_.setCanceled();
      has_active_goal_ = false;
    }

    // Sends the trajectory along to the controller
    if(withinGoalConstraints(last_controller_state_,
                             goal_constraints_,
                             gh.getGoal()->trajectory)) {
      ROS_INFO_STREAM("Already within goal constraints");
      gh.setAccepted();
      gh.setSucceeded();
    } else {
      gh.setAccepted();
      active_goal_ = gh;
      has_active_goal_ = true;

      ROS_INFO("Publishing trajectory");

      current_traj_ = active_goal_.getGoal()->trajectory;
      pub_controller_command_.publish(current_traj_);
    }
  }

  void cancelCB(GoalHandle gh)
  {
    ROS_DEBUG("Received action cancel request");
    if (active_goal_ == gh)
    {
      // Stops the controller.
      trajectory_msgs::JointTrajectory empty;
      empty.joint_names = joint_names_;
      pub_controller_command_.publish(empty);

      // Marks the current goal as canceled.
      active_goal_.setCanceled();
      has_active_goal_ = false;
    }
  }


  ros::NodeHandle node_;
  JTAS action_server_;
  ros::Publisher pub_controller_command_;
  ros::Subscriber sub_controller_state_;
  ros::Timer watchdog_timer_;

  bool has_active_goal_;
  GoalHandle active_goal_;
  trajectory_msgs::JointTrajectory current_traj_;


  std::vector<std::string> joint_names_;
  std::map<std::string,double> goal_constraints_;
  std::map<std::string,double> trajectory_constraints_;
  double goal_time_constraint_;
  double stopped_velocity_tolerance_;

  control_msgs::FollowJointTrajectoryFeedbackConstPtr last_controller_state_;

  void controllerStateCB(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg)
  {
    //ROS_DEBUG("Checking controller state feedback");
    last_controller_state_ = msg;
    ros::Time now = ros::Time::now();

    if (!has_active_goal_)
    {
      //ROS_DEBUG("No active goal, ignoring feedback");
      return;
    }
    if (current_traj_.points.empty())
    {
      ROS_DEBUG("Current trajecotry is empty, ignoring feedback");
      return;
    }
    /* NOT CONCERNED ABOUT TRAJECTORY TIMING AT THIS POINT
    if (now < current_traj_.header.stamp + current_traj_.points[0].time_from_start)
      return;
    */

    if (!setsEqual(joint_names_, msg->joint_names))
    {
      ROS_ERROR("Joint names from the controller don't match our joint names.");
      return;
    }

    // Checking for goal constraints
    // Checks that we have ended inside the goal constraints

    ROS_DEBUG("Checking goal contraints");
    if(withinGoalConstraints(msg,
                             goal_constraints_,
                             current_traj_)) {
      ROS_INFO("Inside goal contraints, return success for action");
      active_goal_.setSucceeded();
      has_active_goal_ = false;
    }
    // Verifies that the controller has stayed within the trajectory constraints.
    /*  DISABLING THIS MORE COMPLICATED GOAL CHECKING AND ERROR DETECTION


    int last = current_traj_.points.size() - 1;
    ros::Time end_time = current_traj_.header.stamp + current_traj_.points[last].time_from_start;
    if (now < end_time)
    {
      // Checks that the controller is inside the trajectory constraints.
      for (size_t i = 0; i < msg->joint_names.size(); ++i)
      {
        double abs_error = fabs(msg->error.positions[i]);
        double constraint = trajectory_constraints_[msg->joint_names[i]];
        if (constraint >= 0 && abs_error > constraint)
        {
          // Stops the controller.
          trajectory_msgs::JointTrajectory empty;
          empty.joint_names = joint_names_;
          pub_controller_command_.publish(empty);

          active_goal_.setAborted();
          has_active_goal_ = false;
          ROS_WARN("Aborting because we would up outside the trajectory constraints");
          return;
        }
      }
    }
    else
    {
      // Checks that we have ended inside the goal constraints
      bool inside_goal_constraints = true;
      for (size_t i = 0; i < msg->joint_names.size() && inside_goal_constraints; ++i)
      {
        double abs_error = fabs(msg->error.positions[i]);
        double goal_constraint = goal_constraints_[msg->joint_names[i]];
        if (goal_constraint >= 0 && abs_error > goal_constraint)
          inside_goal_constraints = false;

        // It's important to be stopped if that's desired.
        if (fabs(msg->desired.velocities[i]) < 1e-6)
        {
          if (fabs(msg->actual.velocities[i]) > stopped_velocity_tolerance_)
            inside_goal_constraints = false;
        }
      }

      if (inside_goal_constraints)
      {
        active_goal_.setSucceeded();
        has_active_goal_ = false;
      }
      else if (now < end_time + ros::Duration(goal_time_constraint_))
      {
        // Still have some time left to make it.
      }
      else
      {
        ROS_WARN("Aborting because we wound up outside the goal constraints");
        active_goal_.setAborted();
        has_active_goal_ = false;
      }

    }
    */
  }
};


int main(int argc, char** argv)
{
  ros::init(argc, argv, "joint_trajectory_action_node");
  ros::NodeHandle node;//("~");
  JointTrajectoryExecuter jte(node);

  ros::spin();

  return 0;
}