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use gz-physics#283 to implement joint_states/effort feedback (backport #186) #430

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Oct 28, 2024
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use gz-physics#283 to implement joint_states/effort feedback (backport #186) #430

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46 changes: 35 additions & 11 deletions gz_ros2_control/src/gz_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,14 +23,17 @@
#include <utility>
#include <vector>

#include <gz/physics/Geometry.hh>
#include <gz/sim/components/AngularVelocity.hh>
#include <gz/sim/components/Imu.hh>
#include <gz/sim/components/JointForce.hh>
#include <gz/sim/components/JointAxis.hh>
#include <gz/sim/components/JointForceCmd.hh>
#include <gz/sim/components/JointPosition.hh>
#include <gz/sim/components/JointPositionReset.hh>
#include <gz/sim/components/JointVelocity.hh>
#include <gz/sim/components/JointTransmittedWrench.hh>
#include <gz/sim/components/JointType.hh>
#include <gz/sim/components/JointVelocityCmd.hh>
#include <gz/sim/components/JointVelocity.hh>
#include <gz/sim/components/JointVelocityReset.hh>
#include <gz/sim/components/LinearAcceleration.hh>
#include <gz/sim/components/Name.hh>
Expand All @@ -50,6 +53,12 @@ struct jointData
/// \brief Joint's names.
std::string name;

/// \brief Joint's type.
sdf::JointType joint_type;

/// \brief Joint's axis.
sdf::JointAxis joint_axis;

/// \brief Current joint position
double joint_position;

Expand Down Expand Up @@ -250,6 +259,10 @@ bool GazeboSimSystem::initSim(

sim::Entity simjoint = enableJoints[joint_name];
this->dataPtr->joints_[j].sim_joint = simjoint;
this->dataPtr->joints_[j].joint_type = _ecm.Component<sim::components::JointType>(
simjoint)->Data();
this->dataPtr->joints_[j].joint_axis = _ecm.Component<sim::components::JointAxis>(
simjoint)->Data();

// Create joint position component if one doesn't exist
if (!_ecm.EntityHasComponentType(
Expand All @@ -267,12 +280,12 @@ bool GazeboSimSystem::initSim(
_ecm.CreateComponent(simjoint, sim::components::JointVelocity());
}

// Create joint force component if one doesn't exist
// Create joint transmitted wrench component if one doesn't exist
if (!_ecm.EntityHasComponentType(
simjoint,
sim::components::JointForce().TypeId()))
sim::components::JointTransmittedWrench().TypeId()))
{
_ecm.CreateComponent(simjoint, sim::components::JointForce());
_ecm.CreateComponent(simjoint, sim::components::JointTransmittedWrench());
}

// Accept this joint and continue configuration
Expand Down Expand Up @@ -533,11 +546,10 @@ hardware_interface::return_type GazeboSimSystem::read(
this->dataPtr->ecm->Component<sim::components::JointVelocity>(
this->dataPtr->joints_[i].sim_joint);

// TODO(ahcorde): Revisit this part gazebosim/ign-physics#124
// Get the joint force
// const auto * jointForce =
// _ecm.Component<sim::components::JointForce>(
// this->dataPtr->sim_joints_[j]);
// Get the joint force via joint transmitted wrench
const auto * jointWrench =
this->dataPtr->ecm->Component<sim::components::JointTransmittedWrench>(
this->dataPtr->joints_[i].sim_joint);

// Get the joint position
const auto * jointPositions =
Expand All @@ -546,7 +558,19 @@ hardware_interface::return_type GazeboSimSystem::read(

this->dataPtr->joints_[i].joint_position = jointPositions->Data()[0];
this->dataPtr->joints_[i].joint_velocity = jointVelocity->Data()[0];
// this->dataPtr->joint_effort_[j] = jointForce->Data()[0];
gz::physics::Vector3d force_or_torque;
if (this->dataPtr->joints_[i].joint_type == sdf::JointType::PRISMATIC) {
force_or_torque = {jointWrench->Data().force().x(),
jointWrench->Data().force().y(), jointWrench->Data().force().z()};
} else { // REVOLUTE and CONTINUOUS
force_or_torque = {jointWrench->Data().torque().x(),
jointWrench->Data().torque().y(), jointWrench->Data().torque().z()};
}
// Calculate the scalar effort along the joint axis
this->dataPtr->joints_[i].joint_effort = force_or_torque.dot(
gz::physics::Vector3d{this->dataPtr->joints_[i].joint_axis.Xyz()[0],
this->dataPtr->joints_[i].joint_axis.Xyz()[1],
this->dataPtr->joints_[i].joint_axis.Xyz()[2]});
}

for (unsigned int i = 0; i < this->dataPtr->imus_.size(); ++i) {
Expand Down
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