Merge pull request #185 from Kinovarobotics/move-arm-inbound-on-init-…

…noetic move arm inbound on init using jointspeeds
Kinovarobotics · Aug 23, 2021 · a334ce2 · a334ce2
2 parents 83fcff5 + 6a1c681
commit a334ce2
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diff --git a/kortex_driver/include/kortex_driver/non-generated/kortex_arm_driver.h b/kortex_driver/include/kortex_driver/non-generated/kortex_arm_driver.h
@@ -80,6 +80,7 @@ class KortexArmDriver
     void initSubscribers();
     void initRosServices();
     void startActionServers();
+    void moveArmWithinJointLimits();
 
   private:
 

diff --git a/kortex_driver/include/kortex_driver/non-generated/kortex_math_util.h b/kortex_driver/include/kortex_driver/non-generated/kortex_math_util.h
@@ -1,7 +1,7 @@
 #ifndef _KORTEX_MATH_UTIL_H_
 #define _KORTEX_MATH_UTIL_H_
 
-/* 
+/*
  * Copyright (c) 2019 Kinova inc. All rights reserved.
  *
  * This software may be modified and distributed under the 
@@ -29,6 +29,7 @@ class KortexMathUtil
     static double wrapDegreesFromZeroTo360(double deg_not_wrapped, int& number_of_turns);
     static double relative_position_from_absolute(double absolute_position, double min_value, double max_value);
     static double absolute_position_from_relative(double relative_position, double min_value, double max_value);
+    static float findDistanceToBoundary(float value, float limit);
 
     // kortex_driver::Twist helper functions
     static kortex_driver::Twist substractTwists(const kortex_driver::Twist& a, const kortex_driver::Twist& b);

diff --git a/kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp b/kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp
@@ -49,6 +49,7 @@ KortexArmDriver::KortexArmDriver(ros::NodeHandle nh):   m_node_handle(nh),
     if (m_is_real_robot)
     {
         m_publish_feedback_thread = std::thread(&KortexArmDriver::publishRobotFeedback, this);
+        moveArmWithinJointLimits();
     }
     else
     {
@@ -526,6 +527,75 @@ void KortexArmDriver::startActionServers()
     }
 }
 
+void KortexArmDriver::moveArmWithinJointLimits()
+{
+    auto joint_angles = m_base->GetMeasuredJointAngles();
+
+    std::map<int, float> limited_joints;
+    if (m_degrees_of_freedom == 6)
+    {
+        // We add angle limitations for joints 1,2 and 4 on 6 dof (values from User guide)
+        limited_joints[1] = 128.9;
+        limited_joints[2] = 147.8;
+        limited_joints[4] = 120.3;
+    } 
+    else if (m_degrees_of_freedom == 7)
+    {
+        // We add angle limitations for joints 1,3 and 5 on 7 dof (values from User guide)
+        limited_joints[1] = 128.9;
+        limited_joints[3] = 147.8;
+        limited_joints[5] = 120.3;
+    }
+    else 
+    {
+        ROS_WARN("Unsupported number of actuators. Not moving the arm within joint limits");
+        return;
+    }
+
+    Kinova::Api::Base::JointSpeeds joint_speeds = Kinova::Api::Base::JointSpeeds();
+    Kinova::Api::Base::JointSpeed* joint_speed = joint_speeds.add_joint_speeds();
+
+    static const int TIME_COMPENSATION = 100;
+    static const int DEFAULT_JOINT_SPEED = 10;
+    static const int TIME_SPEED_RATIO = 1000 / DEFAULT_JOINT_SPEED;
+    static const float EPSILON = 0.001;
+
+    float angle;
+    for (unsigned int i = 0; i < m_degrees_of_freedom; i++)
+    {
+        angle = joint_angles.joint_angles(i).value();
+
+        // Angles received by GetMeasuredJointAngles are in range [0,360], but waypoints are in range [-180, 180]
+        angle = m_math_util.toDeg(m_math_util.wrapRadiansFromMinusPiToPi(m_math_util.toRad(angle)));
+
+        if (limited_joints.count(i))
+        {
+            float delta = m_math_util.findDistanceToBoundary(angle, limited_joints.at(i));
+
+            if (delta > EPSILON)
+            {
+                // we add some time to compensate acceleration
+                int time_ms = delta * TIME_SPEED_RATIO + TIME_COMPENSATION;
+                int speed = DEFAULT_JOINT_SPEED;
+                joint_speed->set_joint_identifier(i);
+
+                if (angle > 0)
+                {
+                    speed *= -1;
+                }
+
+                joint_speed->set_value(speed);
+                m_base->SendJointSpeedsCommand(joint_speeds);
+
+                std::this_thread::sleep_for(std::chrono::milliseconds(time_ms));
+
+                joint_speed->set_value(0);
+                m_base->SendJointSpeedsCommand(joint_speeds);
+            }
+        }
+    }
+}
+
 bool KortexArmDriver::isGripperPresent()
 {
     return m_gripper_name != "";

diff --git a/kortex_driver/src/non-generated/driver/kortex_math_util.cpp b/kortex_driver/src/non-generated/driver/kortex_math_util.cpp
@@ -100,6 +100,18 @@ double KortexMathUtil::absolute_position_from_relative(double relative_position,
     return relative_position * range + min_value;
 }
 
+float KortexMathUtil::findDistanceToBoundary(float value, float limit)
+{
+    float distance = std::abs(value) - limit;
+
+    if ( distance < 0 )
+    {
+        distance = 0;
+    }
+
+    return distance;
+}
+
 kortex_driver::Twist KortexMathUtil::substractTwists(const kortex_driver::Twist& a, const kortex_driver::Twist& b)
 {
     kortex_driver::Twist c;