ros之真實驅動diy6自由度機械臂（moveit中controller原始碼）
阿新 • • 發佈：2019-01-27
書接上回，
moveit 控制真實機器手臂時需要自己編寫 控制器，控制器要有一個action server來接收 moveit的路徑訊息，然後控制器把訊息下發到硬體上。
moveit 需要控制器獲取併發布機機器手臂的狀態。
此處建立兩個節點，來實現這些功能。
第一個節點jointcontroller
1、負責 action server 功能，
2、路徑訊息轉換成電機Id +角度r的一個新訊息(joint_msg)，併發布/arm_motors的話題.
3、由於是舵機，並不能獲取其位姿，獲取部分省略。
4、釋出舵機的當前位姿，即 從接收的路徑訊息來轉換成joint_state訊息，併發布/move_group/fake_controller_joint_states的話題。
第二個節點jointserial
接收話題/arm_motors，解析joint_msg 通過自定義協議串列埠下發。
自定義訊息
joint_msg
int32 id
float64 r
jointcontroller.cpp
#include <ros/ros.h> #include <actionlib/server/simple_action_server.h> #include <control_msgs/FollowJointTrajectoryAction.h> #include <trajectory_msgs/JointTrajectory.h> #include <std_msgs/Float64.h> #include <iostream> #include <vector> #include <string> #include <sensor_msgs/JointState.h> #include <map> #include "zzz_arm_control_driver/joint_msg.h" using namespace std ; typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> Server; class RobotTrajectoryFollower { protected: ros::NodeHandle nh_; // NodeHandle instance must be created before this line. Otherwise strange error may occur. //actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> as_; std::string action_name_; ros::Publisher joint_pub ; ros::Publisher joint_motor_pub ; sensor_msgs::JointState joint_state; zzz_arm_control_driver::joint_msg joint_motor_msg; control_msgs::FollowJointTrajectoryResult result_; control_msgs::FollowJointTrajectoryActionGoal agoal_; control_msgs::FollowJointTrajectoryActionFeedback afeedback_; control_msgs::FollowJointTrajectoryFeedback feedback_; public: map< string, int > MotoName_Id; RobotTrajectoryFollower(std::string name) : nh_("~"), as_(nh_, name,boost::bind(&RobotTrajectoryFollower::goalCB, this, _1), false), action_name_(name) { /*<!-- shoulder_wan_joint:1 upper_arm_joint:2 middle_arm_joint:3 fore_arm_joint:4 tool_joint:5 -->*/ nh_.param("shoulder_wan_joint", MotoName_Id["shoulder_wan_joint"], 0); nh_.param("upper_arm_joint", MotoName_Id["upper_arm_joint"], 0); nh_.param("middle_arm_joint", MotoName_Id["middle_arm_joint"], 0); nh_.param("fore_arm_joint", MotoName_Id["fore_arm_joint"], 0); nh_.param("tool_joint", MotoName_Id["tool_joint"], 10); joint_pub = nh_.advertise<sensor_msgs::JointState>("/move_group/fake_controller_joint_states", 1); joint_motor_pub = nh_.advertise<zzz_arm_control_driver::joint_msg>("/arm_motors", 1000); //Register callback functions: //as_.registerGoalCallback(boost::bind(&RobotTrajectoryFollower::goalCB, this,_1)); as_.registerPreemptCallback(boost::bind(&RobotTrajectoryFollower::preemptCB, this)); as_.start(); } ~RobotTrajectoryFollower(void)//Destructor { } // void setJointStateName(std::vector<std::string> joint_names){ joint_state.name.resize(joint_names.size()); joint_state.name.assign(joint_names.begin(), joint_names.end()); //joint_state.name[0] ="arm_1_to_arm_base"; //std::vector<std::string>::iterator it; //for ( it = joint_state.name.begin(); it != joint_state.name.end(); it++){ // cout <<(*it) <<endl; //} //cout <<endl ; } void setJointStatePosition(std::vector<double> joint_posi){ joint_state.position.resize(joint_posi.size()); joint_state.position.assign(joint_posi.begin(), joint_posi.end()); //joint_state.position[0] = base_arm; //std::vector<double>::iterator it; //for ( it = joint_state.position.begin(); it != joint_state.position.end(); it++){ // cout <<(*it) <<endl; //} //cout <<endl ; } void publishJointState(){ joint_state.header.stamp = ros::Time::now(); joint_pub.publish(joint_state); } void publishMotorState(int ids[],std::vector<double> joint_posi){ std::vector<double>::iterator it; int i=0; for ( it = joint_posi.begin(); it != joint_posi.end(); it++,i++){ joint_motor_msg.id=ids[i]; joint_motor_msg.r=(*it) ; joint_motor_pub.publish(joint_motor_msg); cout <<joint_motor_msg <<endl; } } void goalCB(const control_msgs::FollowJointTrajectoryGoalConstPtr msg) { //cout<<((*msg))<<endl; std::vector<std::string> joint_names=(*msg).trajectory.joint_names; // setJointStateName( joint_names); std::vector<std::string>::iterator it; int ids [joint_names.size()]; int i=0; for ( it = joint_names.begin(); it != joint_names.end(); it++,i++){ ids[i]=MotoName_Id[(*it)]; cout <<MotoName_Id[(*it)] <<endl; } //goal=(*msg);goal.trajectory.points;//c++ how to use this style?? std::vector<trajectory_msgs::JointTrajectoryPoint> points = (*msg).trajectory.points; std::vector<trajectory_msgs::JointTrajectoryPoint>::iterator pointsit; ros::Rate rate(10);//10hz size_t t=points.size(); ROS_INFO("%s: goalCB ", action_name_.c_str()); for ( pointsit = points.begin(); pointsit != points.end(); pointsit++){ //cout<<(*pointsit)<<endl; //cout <<endl ; //here send datamsg to hardware node,command motors run. // publishMotorState(ids,(*pointsit).positions); //wait rate.sleep(); //then update joinstates an publish setJointStatePosition((*pointsit).positions); publishJointState(); //feedback_. //as_.publishFeedback(feedback_); ROS_INFO("left position :%d", (int)t); t--; } // accept the new goal //as_.acceptNewGoal(); if(as_.isActive())as_.setSucceeded(); } void preemptCB() { ROS_INFO("%s: Preempted", action_name_.c_str()); // set the action state to preempted if(as_.isActive()){ as_.setPreempted(); } } Server as_; }; int main(int argc, char** argv) { ros::init(argc, argv, "jointcontroller"); RobotTrajectoryFollower RobotTrajectoryFollower("/zzz_arm_controller/follow_joint_trajectory"); ; ROS_INFO("-------------zzz joint controller is running ."); ros::spin(); return 0; }
jointserial.cpp
#include <ros/ros.h> #include <serial/serial.h> //ROS已經內建了的串列埠包 #include <std_msgs/String.h> #include <std_msgs/Empty.h> #include "zzz_arm_control_driver/joint_msg.h" #include <boost/asio.hpp> //包含boost庫函式 using namespace boost::asio; //定義一個名稱空間，用於後面的讀寫操作 using namespace std; serial::Serial ser; //宣告串列埠物件 //io_service Object io_service m_ios; //Serial port Object serial_port *pSerialPort; //For save com name //any_type m_port; //Serial_port function exception boost::system::error_code ec; std::string serial_port_name; int serial_baudrate = 115200; unsigned char AA=1; unsigned char aa; //回撥函式 void write_callback(const zzz_arm_control_driver::joint_msg::ConstPtr& msg) { ROS_INFO_STREAM("Writing to serial port" <<msg->id<<msg->r); unsigned char mid=(char) msg->id; double r=msg->r; if(mid==1){ r+=3.1415926536/4.0;//motor1 limit:-45~45 } r=r<0.0?0.0:r; r=r>3.1415926/2.0?3.1415926/2.0:r; double per=r/(3.1415926/2.0); per=(mid==1||mid==5)?per:(1-per); unsigned short mr=(unsigned short )((per)*1024.0); ROS_INFO("id:%d per:%d",mid,mr); unsigned char* mrp= (unsigned char*)&mr; unsigned char b1,b2,b3; //11aa aaAA b1=0xc0|(mid<<2); b1|=0x03&(AA>>2); //10AA xxxx b2=0x80|(AA<<4); b2|=(0x0c&((*(mrp+1))<<2))|(0x03&((*(mrp))>>6)); //01xx xxxx b3=0x40|(0x3f&(*(mrp))); char cdata[3]; cdata[0]=b1; cdata[1]=b2; cdata[2]=b3; string data=""; data+=b1; data+=b2; data+=b3; //ser.write(data);//傳送串列埠資料 try { size_t len = write( *pSerialPort, buffer( cdata,3 ), ec ); }catch (boost::system::system_error e){ ROS_ERROR_STREAM("serail write err "); } } int main (int argc, char** argv) { //初始化節點 ros::init(argc, argv, "jointserial"); //宣告節點控制代碼 ros::NodeHandle nh; //訂閱主題，並配置回撥函式 ros::Subscriber write_sub = nh.subscribe("/arm_motors", 1000, write_callback); //釋出主題 //ros::Publisher read_pub = nh.advertise<std_msgs::String>("read", 1000); ros::NodeHandle nh_private("~"); nh_private.param<std::string>("serial_port", serial_port_name, "/dev/ttyUSB0"); nh_private.param<int>("serial_baudrate", serial_baudrate, 115200); /*try { //設定串列埠屬性，並開啟串列埠 ROS_INFO("%s",serial_port_name.c_str()); ser.setPort(serial_port_name); ser.setBaudrate(serial_baudrate); serial::Timeout to = serial::Timeout::simpleTimeout(10000); ser.setTimeout(to); ser.open(); } catch (serial::IOException& e) { ROS_ERROR_STREAM("Unable to open port "); return -1; } //檢測串列埠是否已經開啟，並給出提示資訊 if(ser.isOpen()) { ROS_INFO_STREAM("Serial Port initialized"); } else { return -1; }//*/ pSerialPort = new serial_port( m_ios ); if ( pSerialPort ){ //init_port( port_name, 8 ); //Open Serial port object pSerialPort->open( serial_port_name, ec ); //Set port argument pSerialPort->set_option( serial_port::baud_rate( serial_baudrate ), ec ); pSerialPort->set_option( serial_port::flow_control( serial_port::flow_control::none ), ec ); pSerialPort->set_option( serial_port::parity( serial_port::parity::none ), ec ); pSerialPort->set_option( serial_port::stop_bits( serial_port::stop_bits::one ), ec); pSerialPort->set_option( serial_port::character_size( 8 ), ec); m_ios.run(); } short int a = 0x1234; char *p = (char *)&a; ROS_INFO("p=%#hhx\n", *p); if (*p == 0x34) { ROS_INFO("little endian\n"); } else if (*p == 0x12) { ROS_INFO("big endia\n"); } else { ROS_INFO("unknown endia\n"); } ROS_INFO("-------------zzz joint serail is running ."); ros::spin(); return 0; /* //指定迴圈的頻率 ros::Rate loop_rate(50); while(ros::ok()) { if(ser.available()){ ROS_INFO_STREAM("Reading from serial port\n"); std_msgs::String result; result.data = ser.read(ser.available()); ROS_INFO_STREAM("Read: " << result.data); read_pub.publish(result); } //處理ROS的資訊，比如訂閱訊息,並呼叫回撥函式 ros::spinOnce(); loop_rate.sleep(); }*/ }