base_kinematics.cpp

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/*
 * Author: Sachin Chitta and Matthew Piccoli
 */
 
#include <boost/shared_ptr.hpp>
 
#include <pr2_mechanism_controllers/base_kinematics.h>
#include <kdl/tree.hpp>
 
using namespace controller;
 
 
bool Wheel::init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node, std::string link_name)
{
  wheel_stuck_ = 0;
  direction_multiplier_ = 1;
  wheel_speed_filtered_ = 0;
  wheel_speed_error_ = 0;
  wheel_speed_cmd_ = 0;
  wheel_speed_actual_ = 0;
 
#if URDFDOM_1_0_0_API
  urdf::LinkConstSharedPtr link;
#else
  boost::shared_ptr<const urdf::Link> link;
#endif
  link = robot_state->model_->robot_model_.getLink(link_name);
  if (!link){
    ROS_ERROR("Could not find link with name %s",link_name.c_str());
    return false;
  }
  
  if(!link->collision)
  {
    ROS_ERROR("Link %s does not have collision description. Add collision description for link to urdf.",link_name.c_str());
    return false;
  }
  if(!link->collision->geometry)
  {
    ROS_ERROR("Link %s does not have collision geometry description. Add collision geometry description for link to urdf.",link_name.c_str());
    return false;
  }
  if(link->collision->geometry->type != urdf::Geometry::CYLINDER)
  {
    ROS_ERROR("Link %s does not have cylinder geometry",link_name.c_str());
    return false;
  }
  wheel_radius_ = (dynamic_cast<urdf::Cylinder*>(link->collision->geometry.get()))->radius;
  ROS_DEBUG("wheel name: %s, radius: %f",link_name.c_str(),wheel_radius_);
  link_name_ = link_name;
  joint_name_ = link->parent_joint->name;
 
  joint_ = robot_state->getJointState(joint_name_);
  if (!joint_){
    ROS_ERROR("Could not find joint with name %s",joint_name_.c_str());
    return false;
  }
 
  urdf::Vector3 offset = link->parent_joint->parent_to_joint_origin_transform.position;
  offset_.x = offset.x;
  offset_.y = offset.y;
  offset_.z = offset.z;
//  node.param<double> ("wheel_radius_scaler", wheel_radius_scaler_, 1.0);
  ROS_DEBUG("Loading wheel: %s",link_name_.c_str());
  ROS_DEBUG("offset_.x: %f, offset_.y: %f, offset_.z: %f", offset_.x, offset_.y, offset_.z);
  return true;
}
 
bool Caster::init(pr2_mechanism_model::RobotState *robot_state,  ros::NodeHandle &node, std::string link_name)
{
  caster_stuck_ = 0;
  caster_speed_ = 0;
  caster_speed_filtered_ = 0;
  caster_speed_error_ = 0;
  caster_position_error_ = 0;
  steer_angle_stored_ = 0;
  steer_velocity_desired_ = 0;
  steer_angle_actual_ = 0;
  num_children_ = 0;
 
#if URDFDOM_1_0_0_API
  urdf::LinkConstSharedPtr link;
#else
  boost::shared_ptr<const urdf::Link> link;
#endif
  link = robot_state->model_->robot_model_.getLink(link_name);
  if (!link){
    ROS_ERROR("Could not find link with name %s",link_name.c_str());
    return false;
  }
  ROS_DEBUG("caster name: %s",link_name.c_str());
  link_name_ = link_name;
  joint_name_ = link->parent_joint->name;
 
  joint_ = robot_state->getJointState(joint_name_);
  if (!joint_){
    ROS_ERROR("Could not find joint with name %s",joint_name_.c_str());
    return false;
  }
  urdf::Vector3 offset = link->parent_joint->parent_to_joint_origin_transform.position;
  offset_.x = offset.x;
  offset_.y = offset.y;
  offset_.z = offset.z;
 
  for(unsigned int i=0; i < link->child_links.size(); i++)
  {
#if URDFDOM_1_0_0_API
    urdf::LinkSharedPtr child = link->child_links[i];
#else
    boost::shared_ptr<urdf::Link> child = link->child_links[i];
#endif
    Wheel tmp;
    parent_->wheel_.push_back(tmp);
    if(!parent_->wheel_[parent_->num_wheels_].init(robot_state, node, child->name))
    {
      ROS_ERROR("Could not initialize caster %s",link_name.c_str());
      return false;
    }
    parent_->num_wheels_++;
    num_children_++;
  }
  return true;
}
 
bool BaseKinematics::init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node)
{
  std::string caster_names_string;
  std::vector<std::string> caster_names;
  name_ = node.getNamespace();
  //Initialize stuff
  MAX_DT_ = 0.01;
  num_wheels_ = 0;
  num_casters_ = 0;
 
  robot_state_ = robot_state;
 
  node.param<std::string> ("caster_names",caster_names_string,"");
  std::stringstream ss(caster_names_string);
  std::string tmp;
  while(ss >> tmp)
  {
    caster_names.push_back(tmp);
  }
 
  for(unsigned int i=0; i < caster_names.size(); i++)
  {
    Caster tmp;
    caster_.push_back(tmp);
    caster_[num_casters_].parent_ = this;
    ROS_DEBUG("caster name: %s",caster_names[i].c_str());
    ros::NodeHandle n(name_);
    if(!caster_[num_casters_].init(robot_state, n, caster_names[i]))
    {
      ROS_ERROR("Could not initialize base kinematics");
      return false;
    }
    num_casters_++;
  }
 
  //  node.param<double> ("wheel_radius", wheel_radius_, 0.074792);
  double multiplier;
  node.param<double> ("wheel_radius_multiplier", multiplier, 1.0);
  int wheel_counter = 0;
  for(int j = 0; j < num_casters_; j++)
  {
    for(int i = 0; i < caster_[j].num_children_; i++)
    {
      wheel_[wheel_counter].parent_ = &(caster_[j]);
      wheel_[wheel_counter].wheel_radius_*=multiplier;
      wheel_counter++;
    }
  }
  return true;
}
 
void Wheel::updatePosition()
{
  geometry_msgs::Point result = parent_->offset_;
  double costh = cos(parent_->joint_->position_);
  double sinth = sin(parent_->joint_->position_);
  result.x += costh * offset_.x - sinth * offset_.y;
  result.y += sinth * offset_.x + costh * offset_.y;
  result.z = 0.0;
  position_ = result;
}
 
void BaseKinematics::computeWheelPositions()
{
  for(int i = 0; i < num_wheels_; i++)
  {
    wheel_[i].updatePosition();
  }
 
}
 
geometry_msgs::Twist BaseKinematics::pointVel2D(const geometry_msgs::Point& pos, const geometry_msgs::Twist& vel)
{
  geometry_msgs::Twist result;
  result.linear.x = vel.linear.x - pos.y * vel.angular.z;
  result.linear.y = vel.linear.y + pos.x * vel.angular.z;
  result.angular.z = 0;
  return result;
}