From 32531aecc4d38eb818600310cfeaaeeb7acd0d97 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Tue, 23 Jan 2024 00:08:43 +0100 Subject: [PATCH 1/4] [JTC] Convert lambda to class functions (#945) * Convert lambdas to member functions * Make member function const * Add a test for compute_error function * Make reference_wrapper argument const * Iterate over error fields (cherry picked from commit 833ed7fbf67f0443ca28a1d24e035a64c99f2640) # Conflicts: # joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp # joint_trajectory_controller/src/joint_trajectory_controller.cpp --- .../joint_trajectory_controller.hpp | 35 +++- .../tolerances.hpp | 4 + .../src/joint_trajectory_controller.cpp | 44 +++-- .../test/test_trajectory_controller.cpp | 174 ++++++++++++++++++ .../test/test_trajectory_controller_utils.hpp | 24 +++ 5 files changed, 267 insertions(+), 14 deletions(-) diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp index cc60a03b4c..70d9cdedc8 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp @@ -213,6 +213,20 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa void goal_accepted_callback( std::shared_ptr> goal_handle); + using JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint; + + /** + * Computes the error for a specific joint in the trajectory. + * + * @param[out] error The computed error for the joint. + * @param[in] index The index of the joint in the trajectory. + * @param[in] current The current state of the joints. + * @param[in] desired The desired state of the joints. + */ + JOINT_TRAJECTORY_CONTROLLER_PUBLIC + void compute_error_for_joint( + JointTrajectoryPoint & error, const size_t index, const JointTrajectoryPoint & current, + const JointTrajectoryPoint & desired) const; // fill trajectory_msg so it matches joints controlled by this controller // positions set to current position, velocities, accelerations and efforts to 0.0 JOINT_TRAJECTORY_CONTROLLER_PUBLIC @@ -221,7 +235,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa // sorts the joints of the incoming message to our local order JOINT_TRAJECTORY_CONTROLLER_PUBLIC void sort_to_local_joint_order( - std::shared_ptr trajectory_msg); + std::shared_ptr trajectory_msg) const; JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool validate_trajectory_msg(const trajectory_msgs::msg::JointTrajectory & trajectory) const; JOINT_TRAJECTORY_CONTROLLER_PUBLIC @@ -255,7 +269,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool has_active_trajectory() const; - using JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint; JOINT_TRAJECTORY_CONTROLLER_PUBLIC void publish_state( const JointTrajectoryPoint & desired_state, const JointTrajectoryPoint & current_state, @@ -287,6 +300,24 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa trajectory_msgs::msg::JointTrajectoryPoint & point, size_t size); void resize_joint_trajectory_point_command( trajectory_msgs::msg::JointTrajectoryPoint & point, size_t size); + + /** + * @brief Assigns the values from a trajectory point interface to a joint interface. + * + * @tparam T The type of the joint interface. + * @param[out] joint_interface The reference_wrapper to assign the values to + * @param[in] trajectory_point_interface Containing the values to assign. + * @todo: Use auto in parameter declaration with c++20 + */ + template + void assign_interface_from_point( + const T & joint_interface, const std::vector & trajectory_point_interface) + { + for (size_t index = 0; index < dof_; ++index) + { + joint_interface[index].get().set_value(trajectory_point_interface[index]); + } + } }; } // namespace joint_trajectory_controller diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp index 1681e7e037..dc9c02a252 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp @@ -147,7 +147,11 @@ inline bool check_state_tolerance_per_joint( if (show_errors) { const auto logger = rclcpp::get_logger("tolerances"); +<<<<<<< HEAD RCLCPP_ERROR(logger, "State tolerances failed for joint %d:", joint_idx); +======= + RCLCPP_ERROR(logger, "State tolerances failed for joint %lu:", joint_idx); +>>>>>>> 833ed7f ([JTC] Convert lambda to class functions (#945)) if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position) { diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 569c47da83..aced70703f 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -134,6 +134,7 @@ controller_interface::return_type JointTrajectoryController::update( } } +<<<<<<< HEAD auto compute_error_for_joint = [&]( JointTrajectoryPoint & error, int index, const JointTrajectoryPoint & current, @@ -163,6 +164,8 @@ controller_interface::return_type JointTrajectoryController::update( } }; +======= +>>>>>>> 833ed7f ([JTC] Convert lambda to class functions (#945)) // don't update goal after we sampled the trajectory to avoid any racecondition const auto active_goal = *rt_active_goal_.readFromRT(); @@ -180,17 +183,6 @@ controller_interface::return_type JointTrajectoryController::update( traj_external_point_ptr_->update(*new_external_msg); } - // TODO(anyone): can I here also use const on joint_interface since the reference_wrapper is not - // changed, but its value only? - auto assign_interface_from_point = - [&](auto & joint_interface, const std::vector & trajectory_point_interface) - { - for (size_t index = 0; index < dof_; ++index) - { - joint_interface[index].get().set_value(trajectory_point_interface[index]); - } - }; - // current state update state_current_.time_from_start.set__sec(0); read_state_from_state_interfaces(state_current_); @@ -1293,6 +1285,34 @@ void JointTrajectoryController::goal_accepted_callback( std::bind(&RealtimeGoalHandle::runNonRealtime, rt_goal)); } +void JointTrajectoryController::compute_error_for_joint( + JointTrajectoryPoint & error, const size_t index, const JointTrajectoryPoint & current, + const JointTrajectoryPoint & desired) const +{ + // error defined as the difference between current and desired + if (joints_angle_wraparound_[index]) + { + // if desired, the shortest_angular_distance is calculated, i.e., the error is + // normalized between -pi trajectory_msg) const { @@ -1354,7 +1374,7 @@ void JointTrajectoryController::fill_partial_goal( } void JointTrajectoryController::sort_to_local_joint_order( - std::shared_ptr trajectory_msg) + std::shared_ptr trajectory_msg) const { // rearrange all points in the trajectory message based on mapping std::vector mapping_vector = mapping(trajectory_msg->joint_names, params_.joints); diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index c282ee0a05..add1ccf266 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -513,6 +513,180 @@ TEST_P(TrajectoryControllerTestParameterized, hold_on_startup) // Floating-point value comparison threshold const double EPS = 1e-6; + +/** + * @brief check if calculated trajectory error is correct with angle wraparound=true + */ +TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_true) +{ + rclcpp::executors::MultiThreadedExecutor executor; + std::vector params = {}; + SetUpAndActivateTrajectoryController( + executor, params, true, 0.0, 1.0, true /* angle_wraparound */); + + size_t n_joints = joint_names_.size(); + + // send msg + constexpr auto FIRST_POINT_TIME = std::chrono::milliseconds(250); + builtin_interfaces::msg::Duration time_from_start{rclcpp::Duration(FIRST_POINT_TIME)}; + // *INDENT-OFF* + std::vector> points{ + {{3.3, 4.4, 6.6}}, {{7.7, 8.8, 9.9}}, {{10.10, 11.11, 12.12}}}; + std::vector> points_velocities{ + {{0.01, 0.01, 0.01}}, {{0.05, 0.05, 0.05}}, {{0.06, 0.06, 0.06}}}; + std::vector> points_accelerations{ + {{0.1, 0.1, 0.1}}, {{0.5, 0.5, 0.5}}, {{0.6, 0.6, 0.6}}}; + // *INDENT-ON* + + trajectory_msgs::msg::JointTrajectoryPoint error, current, desired; + current.positions = {points[0].begin(), points[0].end()}; + current.velocities = {points_velocities[0].begin(), points_velocities[0].end()}; + current.accelerations = {points_accelerations[0].begin(), points_accelerations[0].end()}; + traj_controller_->resize_joint_trajectory_point(error, n_joints); + + // zero error + desired = current; + for (size_t i = 0; i < n_joints; ++i) + { + traj_controller_->testable_compute_error_for_joint(error, i, current, desired); + EXPECT_NEAR(error.positions[i], 0., EPS); + if ( + traj_controller_->has_velocity_state_interface() && + (traj_controller_->has_velocity_command_interface() || + traj_controller_->has_effort_command_interface())) + { + // expect: error.velocities = desired.velocities - current.velocities; + EXPECT_NEAR(error.velocities[i], 0., EPS); + } + if ( + traj_controller_->has_acceleration_state_interface() && + traj_controller_->has_acceleration_command_interface()) + { + // expect: error.accelerations = desired.accelerations - current.accelerations; + EXPECT_NEAR(error.accelerations[i], 0., EPS); + } + } + + // angle wraparound of position error + desired.positions[0] += 3.0 * M_PI_2; + desired.velocities[0] += 1.0; + desired.accelerations[0] += 1.0; + traj_controller_->resize_joint_trajectory_point(error, n_joints); + for (size_t i = 0; i < n_joints; ++i) + { + traj_controller_->testable_compute_error_for_joint(error, i, current, desired); + if (i == 0) + { + EXPECT_NEAR( + error.positions[i], desired.positions[i] - current.positions[i] - 2.0 * M_PI, EPS); + } + else + { + EXPECT_NEAR(error.positions[i], desired.positions[i] - current.positions[i], EPS); + } + + if ( + traj_controller_->has_velocity_state_interface() && + (traj_controller_->has_velocity_command_interface() || + traj_controller_->has_effort_command_interface())) + { + // expect: error.velocities = desired.velocities - current.velocities; + EXPECT_NEAR(error.velocities[i], desired.velocities[i] - current.velocities[i], EPS); + } + if ( + traj_controller_->has_acceleration_state_interface() && + traj_controller_->has_acceleration_command_interface()) + { + // expect: error.accelerations = desired.accelerations - current.accelerations; + EXPECT_NEAR(error.accelerations[i], desired.accelerations[i] - current.accelerations[i], EPS); + } + } + + executor.cancel(); +} + +/** + * @brief check if calculated trajectory error is correct with angle wraparound=false + */ +TEST_P(TrajectoryControllerTestParameterized, compute_error_angle_wraparound_false) +{ + rclcpp::executors::MultiThreadedExecutor executor; + std::vector params = {}; + SetUpAndActivateTrajectoryController( + executor, params, true, 0.0, 1.0, false /* angle_wraparound */); + + size_t n_joints = joint_names_.size(); + + // send msg + constexpr auto FIRST_POINT_TIME = std::chrono::milliseconds(250); + builtin_interfaces::msg::Duration time_from_start{rclcpp::Duration(FIRST_POINT_TIME)}; + // *INDENT-OFF* + std::vector> points{ + {{3.3, 4.4, 6.6}}, {{7.7, 8.8, 9.9}}, {{10.10, 11.11, 12.12}}}; + std::vector> points_velocities{ + {{0.01, 0.01, 0.01}}, {{0.05, 0.05, 0.05}}, {{0.06, 0.06, 0.06}}}; + std::vector> points_accelerations{ + {{0.1, 0.1, 0.1}}, {{0.5, 0.5, 0.5}}, {{0.6, 0.6, 0.6}}}; + // *INDENT-ON* + + trajectory_msgs::msg::JointTrajectoryPoint error, current, desired; + current.positions = {points[0].begin(), points[0].end()}; + current.velocities = {points_velocities[0].begin(), points_velocities[0].end()}; + current.accelerations = {points_accelerations[0].begin(), points_accelerations[0].end()}; + traj_controller_->resize_joint_trajectory_point(error, n_joints); + + // zero error + desired = current; + for (size_t i = 0; i < n_joints; ++i) + { + traj_controller_->testable_compute_error_for_joint(error, i, current, desired); + EXPECT_NEAR(error.positions[i], 0., EPS); + if ( + traj_controller_->has_velocity_state_interface() && + (traj_controller_->has_velocity_command_interface() || + traj_controller_->has_effort_command_interface())) + { + // expect: error.velocities = desired.velocities - current.velocities; + EXPECT_NEAR(error.velocities[i], 0., EPS); + } + if ( + traj_controller_->has_acceleration_state_interface() && + traj_controller_->has_acceleration_command_interface()) + { + // expect: error.accelerations = desired.accelerations - current.accelerations; + EXPECT_NEAR(error.accelerations[i], 0., EPS); + } + } + + // no normalization of position error + desired.positions[0] += 3.0 * M_PI_4; + desired.velocities[0] += 1.0; + desired.accelerations[0] += 1.0; + traj_controller_->resize_joint_trajectory_point(error, n_joints); + for (size_t i = 0; i < n_joints; ++i) + { + traj_controller_->testable_compute_error_for_joint(error, i, current, desired); + EXPECT_NEAR(error.positions[i], desired.positions[i] - current.positions[i], EPS); + if ( + traj_controller_->has_velocity_state_interface() && + (traj_controller_->has_velocity_command_interface() || + traj_controller_->has_effort_command_interface())) + { + // expect: error.velocities = desired.velocities - current.velocities; + EXPECT_NEAR(error.velocities[i], desired.velocities[i] - current.velocities[i], EPS); + } + if ( + traj_controller_->has_acceleration_state_interface() && + traj_controller_->has_acceleration_command_interface()) + { + // expect: error.accelerations = desired.accelerations - current.accelerations; + EXPECT_NEAR(error.accelerations[i], desired.accelerations[i] - current.accelerations[i], EPS); + } + } + + executor.cancel(); +} + /** * @brief check if position error of revolute joints are angle_wraparound if not configured so */ diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp index ac7348724d..058460b7a5 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp +++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp @@ -107,6 +107,13 @@ class TestableJointTrajectoryController void trigger_declare_parameters() { param_listener_->declare_params(); } + void testable_compute_error_for_joint( + JointTrajectoryPoint & error, const size_t index, const JointTrajectoryPoint & current, + const JointTrajectoryPoint & desired) + { + compute_error_for_joint(error, index, current, desired); + } + trajectory_msgs::msg::JointTrajectoryPoint get_current_state_when_offset() const { return last_commanded_state_; @@ -154,6 +161,23 @@ class TestableJointTrajectoryController trajectory_msgs::msg::JointTrajectoryPoint get_state_reference() { return state_desired_; } trajectory_msgs::msg::JointTrajectoryPoint get_state_error() { return state_error_; } + /** + * a copy of the private member function + */ + void resize_joint_trajectory_point( + trajectory_msgs::msg::JointTrajectoryPoint & point, size_t size) + { + point.positions.resize(size, 0.0); + if (has_velocity_state_interface_) + { + point.velocities.resize(size, 0.0); + } + if (has_acceleration_state_interface_) + { + point.accelerations.resize(size, 0.0); + } + } + rclcpp::WaitSet joint_cmd_sub_wait_set_; }; From 32ad176734db18136114e927d5351b50d2353826 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Tue, 6 Feb 2024 17:17:33 +0100 Subject: [PATCH 2/4] Fix conflicts. --- .../include/joint_trajectory_controller/tolerances.hpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp index dc9c02a252..2fc5cd46da 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp @@ -1,4 +1,4 @@ -// Copyright 2013 PAL Robotics S.L. + // Copyright 2013 PAL Robotics S.L. // All rights reserved. // // Software License Agreement (BSD License 2.0) @@ -147,11 +147,7 @@ inline bool check_state_tolerance_per_joint( if (show_errors) { const auto logger = rclcpp::get_logger("tolerances"); -<<<<<<< HEAD - RCLCPP_ERROR(logger, "State tolerances failed for joint %d:", joint_idx); -======= RCLCPP_ERROR(logger, "State tolerances failed for joint %lu:", joint_idx); ->>>>>>> 833ed7f ([JTC] Convert lambda to class functions (#945)) if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position) { From a05884667f69cc99587393823b0da4b805473c66 Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Tue, 6 Feb 2024 17:17:55 +0100 Subject: [PATCH 3/4] Update joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp --- .../include/joint_trajectory_controller/tolerances.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp index 2fc5cd46da..d9bace60e4 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp @@ -1,4 +1,4 @@ - // Copyright 2013 PAL Robotics S.L. +// Copyright 2013 PAL Robotics S.L. // All rights reserved. // // Software License Agreement (BSD License 2.0) From dcda1c3fd2dff4ab01ac65c4491806b1581a79ad Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Tue, 6 Feb 2024 17:18:37 +0100 Subject: [PATCH 4/4] Update joint_trajectory_controller.cpp --- .../src/joint_trajectory_controller.cpp | 32 ------------------- 1 file changed, 32 deletions(-) diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index aced70703f..9fb9c0d997 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -134,38 +134,6 @@ controller_interface::return_type JointTrajectoryController::update( } } -<<<<<<< HEAD - auto compute_error_for_joint = [&]( - JointTrajectoryPoint & error, int index, - const JointTrajectoryPoint & current, - const JointTrajectoryPoint & desired) - { - // error defined as the difference between current and desired - if (joints_angle_wraparound_[index]) - { - // if desired, the shortest_angular_distance is calculated, i.e., the error is - // normalized between -pi>>>>>> 833ed7f ([JTC] Convert lambda to class functions (#945)) // don't update goal after we sampled the trajectory to avoid any racecondition const auto active_goal = *rt_active_goal_.readFromRT();