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State Interface Fix FRI >= 2 #183

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State Interface Fix FRI >= 2 #183

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b1da9a2
Changes made to the local branch for FRI3 compatibility
OmidRezayof May 29, 2024
8bf0ef2
Merge pull request #182 from OmidRezayof/FRI3
mhubii May 29, 2024
244079b
simplified PR #182
mhubii May 30, 2024
e6c32d2
fixed dependency
mhubii May 30, 2024
f54023d
proposal for version-dependent state interface
mhubii May 30, 2024
aabd5f2
formatting
mhubii May 30, 2024
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2 changes: 1 addition & 1 deletion lbr_fri_ros2/include/lbr_fri_ros2/formatting.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ struct EnumMaps {
case KUKA::FRI::EClientCommandMode::POSITION:
return "POSITION";
#endif
#if FRICLIENT_VERSION_MAJOR == 2
#if FRICLIENT_VERSION_MAJOR >= 2
case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
return "JOINT_POSITION";
case KUKA::FRI::EClientCommandMode::CARTESIAN_POSE:
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2 changes: 1 addition & 1 deletion lbr_fri_ros2/src/async_client.cpp
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Expand Up @@ -21,7 +21,7 @@ AsyncClient::AsyncClient(const KUKA::FRI::EClientCommandMode &client_command_mod
#if FRICLIENT_VERSION_MAJOR == 1
case KUKA::FRI::EClientCommandMode::POSITION:
#endif
#if FRICLIENT_VERSION_MAJOR == 2
#if FRICLIENT_VERSION_MAJOR >= 2
case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
#endif
{
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2 changes: 1 addition & 1 deletion lbr_fri_ros2/src/interfaces/position_command.cpp
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Expand Up @@ -19,7 +19,7 @@ void PositionCommandInterface::buffered_command_to_fri(fri_command_t_ref command
throw std::runtime_error(err);
}
#endif
#if FRICLIENT_VERSION_MAJOR == 2
#if FRICLIENT_VERSION_MAJOR >= 2
if (state.client_command_mode != KUKA::FRI::EClientCommandMode::JOINT_POSITION) {
std::string err =
"Expected robot in " +
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4 changes: 2 additions & 2 deletions lbr_fri_ros2/test/test_command_interfaces.cpp
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Expand Up @@ -36,7 +36,7 @@ class TestCommandInterfaces : public ::testing::Test {
#if FRICLIENT_VERSION_MAJOR == 1
case KUKA::FRI::EClientCommandMode::POSITION:
#endif
#if FRICLIENT_VERSION_MAJOR == 2
#if FRICLIENT_VERSION_MAJOR >= 2
case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
#endif
{
Expand Down Expand Up @@ -146,7 +146,7 @@ TEST_F(TestCommandInterfaces, TestPositionCommandInterface) {
#if FRICLIENT_VERSION_MAJOR == 1
set_up(KUKA::FRI::EClientCommandMode::POSITION);
#endif
#if FRICLIENT_VERSION_MAJOR == 2
#if FRICLIENT_VERSION_MAJOR >= 2
set_up(KUKA::FRI::EClientCommandMode::JOINT_POSITION);
#endif
test_simple();
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8 changes: 4 additions & 4 deletions lbr_fri_ros2_stack/package.xml
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Expand Up @@ -9,12 +9,12 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>lbr_fri_idl</depend>
<depend>lbr_fri_ros2</depend>
<depend>lbr_ros2_control</depend>

<exec_depend>lbr_bringup</exec_depend>
<exec_depend>lbr_demos</exec_depend>
<exec_depend>lbr_description</exec_depend>
<exec_depend>lbr_fri_idl</exec_depend>
<exec_depend>lbr_fri_ros2</exec_depend>
<exec_depend>lbr_ros2_control</exec_depend>

<export>
<build_type>ament_cmake</build_type>
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4 changes: 3 additions & 1 deletion lbr_ros2_control/config/lbr_system_interface.xacro
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Expand Up @@ -103,7 +103,9 @@
<state_interface name="velocity" />
<state_interface name="effort" />
<xacro:unless value="${sim}">
<state_interface name="commanded_joint_position" />
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<xacro:if value="${system_parameters['fri_client_version']['major'] == 1}">
<state_interface name="commanded_joint_position" />
</xacro:if>
<state_interface name="commanded_torque" />
<state_interface name="external_torque" />
<state_interface name="ipo_joint_position" />
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6 changes: 5 additions & 1 deletion lbr_ros2_control/config/lbr_system_parameters.yaml
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@@ -1,4 +1,8 @@
# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
fri_client_version: # FRI client version is used to determine required interfaces in lbr_system_interface.xacro
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@mhubii mhubii May 30, 2024 •
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is the user required to configure this, or can this be done automatically?

At least there should be a runtime error hinting to a potential mismatch.

major: 1
minor: 15

hardware:
client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups
Expand All @@ -11,7 +15,7 @@ hardware:
pid_i_min: 0.0 # min integral value for the joint position command
pid_antiwindup: false # enable antiwindup for the joint position command
command_guard_variant: default # if requested position / velocities beyond limits, CommandGuard will be triggered and shut the connection. Available: [default, safe_stop]
external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz]
external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz]
measured_torque_cutoff_frequency: 10 # low-pass filter for the joint torque measurements [Hz]
open_loop: true # KUKA works the best in open_loop control mode

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7 changes: 6 additions & 1 deletion lbr_ros2_control/include/lbr_ros2_control/system_interface.hpp
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Expand Up @@ -34,7 +34,7 @@ struct SystemInterfaceParameters {
#if FRICLIENT_VERSION_MAJOR == 1
KUKA::FRI::EClientCommandMode client_command_mode{KUKA::FRI::EClientCommandMode::POSITION};
#endif
#if FRICLIENT_VERSION_MAJOR == 2
#if FRICLIENT_VERSION_MAJOR >= 2
KUKA::FRI::EClientCommandMode client_command_mode{KUKA::FRI::EClientCommandMode::JOINT_POSITION};
#endif
int32_t port_id{30200};
Expand Down Expand Up @@ -68,7 +68,12 @@ class SystemInterface : public hardware_interface::SystemInterface {
protected:
static constexpr char LOGGER_NAME[] = "lbr_ros2_control::SystemInterface";

#if FRICLIENT_VERSION_MAJOR == 1
static constexpr uint8_t LBR_FRI_STATE_INTERFACE_SIZE = 7;
#endif
#if FRICLIENT_VERSION_MAJOR >= 2
static constexpr uint8_t LBR_FRI_STATE_INTERFACE_SIZE = 6;
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#endif
static constexpr uint8_t LBR_FRI_COMMAND_INTERFACE_SIZE = 2;
static constexpr uint8_t LBR_FRI_SENSORS = 2;
static constexpr uint8_t AUXILIARY_SENSOR_SIZE = 12;
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2 changes: 1 addition & 1 deletion lbr_ros2_control/src/system_interface.cpp
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Expand Up @@ -325,7 +325,7 @@ bool SystemInterface::parse_parameters_(const hardware_interface::HardwareInfo &
#if FRICLIENT_VERSION_MAJOR == 1
parameters_.client_command_mode = KUKA::FRI::EClientCommandMode::POSITION;
#endif
#if FRICLIENT_VERSION_MAJOR == 2
#if FRICLIENT_VERSION_MAJOR >= 2
parameters_.client_command_mode = KUKA::FRI::EClientCommandMode::JOINT_POSITION;
#endif
} else if (client_command_mode == "torque") {
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