PoseSensor semantic component

controller_interface/CMakeLists.txt

@@ -34,6 +34,7 @@ target_compile_definitions(controller_interface PRIVATE "CONTROLLER_INTERFACE_BU
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
+  find_package(geometry_msgs REQUIRED)
   find_package(sensor_msgs REQUIRED)
 
   ament_add_gmock(test_controller_interface test/test_controller_interface.cpp)
@@ -74,6 +75,15 @@ if(BUILD_TESTING)
   ament_target_dependencies(test_imu_sensor
     sensor_msgs
   )
+
+  ament_add_gmock(test_pose_sensor test/test_pose_sensor.cpp)
+  target_link_libraries(test_pose_sensor
+    controller_interface
+    hardware_interface::hardware_interface
+  )
+  ament_target_dependencies(test_pose_sensor
+    geometry_msgs
+  )
 endif()
 
 install(

controller_interface/include/semantic_components/pose_sensor.hpp

@@ -0,0 +1,110 @@
+// Copyright 2024 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_
+#define SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_
+
+#include <array>
+#include <limits>
+#include <string>
+
+#include "geometry_msgs/msg/pose.hpp"
+#include "semantic_components/semantic_component_interface.hpp"
+
+namespace semantic_components
+{
+
+class PoseSensor : public SemanticComponentInterface<geometry_msgs::msg::Pose>
+{
+public:
+  /// Constructor for a standard pose sensor with interface names set based on sensor name.
+  explicit PoseSensor(const std::string & name) : SemanticComponentInterface{name, 7}
+  {
+    // Use standard interface names
+    interface_names_.emplace_back(name_ + '/' + "position.x");
+    interface_names_.emplace_back(name_ + '/' + "position.y");
+    interface_names_.emplace_back(name_ + '/' + "position.z");
+    interface_names_.emplace_back(name_ + '/' + "orientation.x");
+    interface_names_.emplace_back(name_ + '/' + "orientation.y");
+    interface_names_.emplace_back(name_ + '/' + "orientation.z");
+    interface_names_.emplace_back(name_ + '/' + "orientation.w");
+
+    // Set all sensor values to default value NaN
+    std::fill(position_.begin(), position_.end(), std::numeric_limits<double>::quiet_NaN());
+    std::fill(orientation_.begin(), orientation_.end(), std::numeric_limits<double>::quiet_NaN());
+  }
+
+  virtual ~PoseSensor() = default;
+
+  /// Update and return position.
+  /*!
+   * Update and return current pose position from state interfaces.
+   *
+   * \return Array of position coordinates.
+   */
+  std::array<double, 3> get_position()
+  {
+    for (size_t i = 0; i < 3; ++i)
+    {
+      position_[i] = state_interfaces_[i].get().get_value();
+    }
+
+    return position_;
+  }
+
+  /// Update and return orientation
+  /*!
+   * Update and return current pose orientation from state interfaces.
+   *
+   * \return Array of orientation coordinates in xyzw convention.
+   */
+  std::array<double, 4> get_orientation()
+  {
+    for (size_t i = 3; i < 7; ++i)
+    {
+      orientation_[i - 3] = state_interfaces_[i].get().get_value();
+    }
+
+    return orientation_;
+  }
+
+  /// Fill pose message with current values.
+  /**
+   * Fill a pose message with current position and orientation from the state interfaces.
+   */
+  bool get_values_as_message(geometry_msgs::msg::Pose & message)
+  {
+    // Update state from state interfaces
+    get_position();
+    get_orientation();
+
+    // Set message values from current state
+    message.position.x = position_[0];
+    message.position.y = position_[1];
+    message.position.z = position_[2];
+    message.orientation.x = orientation_[0];
+    message.orientation.y = orientation_[1];
+    message.orientation.z = orientation_[2];
+    message.orientation.w = orientation_[3];
+
+    return true;
+  }
+
+protected:
+  std::array<double, 3> position_;
+  std::array<double, 4> orientation_;
+};
+
+}  // namespace semantic_components
+
+#endif  // SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_

controller_interface/package.xml

@@ -19,6 +19,7 @@
   <build_export_depend>rclcpp_lifecycle</build_export_depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>geometry_msgs</test_depend>
   <test_depend>sensor_msgs</test_depend>
 
   <export>

controller_interface/test/test_pose_sensor.cpp

@@ -0,0 +1,98 @@
+// Copyright (c) 2024, FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "test_pose_sensor.hpp"
+
+void PoseSensorTest::SetUp()
+{
+  full_interface_names_.reserve(size_);
+  for (const auto & interface_name : interface_names_)
+  {
+    full_interface_names_.emplace_back(sensor_name_ + '/' + interface_name);
+  }
+}
+
+void PoseSensorTest::TearDown() { pose_sensor_.reset(nullptr); }
+
+TEST_F(PoseSensorTest, validate_all)
+{
+  // Create sensor
+  pose_sensor_ = std::make_unique<TestablePoseSensor>(sensor_name_);
+  EXPECT_EQ(pose_sensor_->name_, sensor_name_);
+
+  // Validate reserved space for interface_names_ and state_interfaces_
+  // As state_interfaces_ are not defined yet, use capacity()
+  ASSERT_EQ(pose_sensor_->interface_names_.size(), size_);
+  ASSERT_EQ(pose_sensor_->state_interfaces_.capacity(), size_);
+
+  // Validate default interface_names_
+  EXPECT_TRUE(std::equal(
+    pose_sensor_->interface_names_.cbegin(), pose_sensor_->interface_names_.cend(),
+    full_interface_names_.cbegin(), full_interface_names_.cend()));
+
+  // Get interface names
+  std::vector<std::string> interface_names = pose_sensor_->get_state_interface_names();
+
+  // Assign values to position
+  hardware_interface::StateInterface position_x{
+    sensor_name_, interface_names_[0], &position_values_[0]};
+  hardware_interface::StateInterface position_y{
+    sensor_name_, interface_names_[1], &position_values_[1]};
+  hardware_interface::StateInterface position_z{
+    sensor_name_, interface_names_[2], &position_values_[2]};
+
+  // Assign values to orientation
+  hardware_interface::StateInterface orientation_x{
+    sensor_name_, interface_names_[3], &orientation_values_[0]};
+  hardware_interface::StateInterface orientation_y{
+    sensor_name_, interface_names_[4], &orientation_values_[1]};
+  hardware_interface::StateInterface orientation_z{
+    sensor_name_, interface_names_[5], &orientation_values_[2]};
+  hardware_interface::StateInterface orientation_w{
+    sensor_name_, interface_names_[6], &orientation_values_[3]};
+
+  // Create state interface vector in jumbled order
+  std::vector<hardware_interface::LoanedStateInterface> temp_state_interfaces;
+  temp_state_interfaces.reserve(7);
+
+  temp_state_interfaces.emplace_back(position_z);
+  temp_state_interfaces.emplace_back(orientation_y);
+  temp_state_interfaces.emplace_back(orientation_x);
+  temp_state_interfaces.emplace_back(position_x);
+  temp_state_interfaces.emplace_back(orientation_w);
+  temp_state_interfaces.emplace_back(position_y);
+  temp_state_interfaces.emplace_back(orientation_z);
+
+  // Assign interfaces
+  pose_sensor_->assign_loaned_state_interfaces(temp_state_interfaces);
+  EXPECT_EQ(pose_sensor_->state_interfaces_.size(), size_);
+
+  // Validate correct position and orientation
+  EXPECT_EQ(pose_sensor_->get_position(), position_values_);
+  EXPECT_EQ(pose_sensor_->get_orientation(), orientation_values_);
+
+  // Validate generated message
+  geometry_msgs::msg::Pose temp_message;
+  ASSERT_TRUE(pose_sensor_->get_values_as_message(temp_message));
+  EXPECT_EQ(temp_message.position.x, position_values_[0]);
+  EXPECT_EQ(temp_message.position.y, position_values_[1]);
+  EXPECT_EQ(temp_message.position.z, position_values_[2]);
+  EXPECT_EQ(temp_message.orientation.x, orientation_values_[0]);
+  EXPECT_EQ(temp_message.orientation.y, orientation_values_[1]);
+  EXPECT_EQ(temp_message.orientation.z, orientation_values_[2]);
+  EXPECT_EQ(temp_message.orientation.w, orientation_values_[3]);
+
+  // Release state interfaces
+  pose_sensor_->release_interfaces();
+  ASSERT_EQ(pose_sensor_->state_interfaces_.size(), 0);
+}

controller_interface/test/test_pose_sensor.hpp

@@ -0,0 +1,59 @@
+// Copyright (c) 2024, FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TEST_POSE_SENSOR_HPP_
+#define TEST_POSE_SENSOR_HPP_
+
+#include <gmock/gmock.h>
+
+#include <array>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "semantic_components/pose_sensor.hpp"
+
+class TestablePoseSensor : public semantic_components::PoseSensor
+{
+  FRIEND_TEST(PoseSensorTest, validate_all);
+
+public:
+  // Use default interface names
+  explicit TestablePoseSensor(const std::string & name) : PoseSensor{name} {}
+
+  virtual ~TestablePoseSensor() = default;
+};
+
+class PoseSensorTest : public ::testing::Test
+{
+public:
+  void SetUp();
+  void TearDown();
+
+protected:
+  const size_t size_ = 7;
+  const std::string sensor_name_ = "test_pose_sensor";
+
+  std::vector<std::string> full_interface_names_;
+  const std::vector<std::string> interface_names_ = {
+    "position.x",    "position.y",    "position.z",   "orientation.x",
+    "orientation.y", "orientation.z", "orientation.w"};
+
+  std::array<double, 3> position_values_ = {{1.1, 2.2, 3.3}};
+  std::array<double, 4> orientation_values_ = {{4.4, 5.5, 6.6, 7.7}};
+
+  std::unique_ptr<TestablePoseSensor> pose_sensor_;
+};
+
+#endif  // TEST_POSE_SENSOR_HPP_

doc/release_notes.rst

@@ -25,6 +25,7 @@ For details see the controller_manager section.
 * The controllers will now set ``use_global_arguments`` from `NodeOptions <https://docs.ros.org/en/rolling/p/rclcpp/generated/classrclcpp_1_1NodeOptions.html#_CPPv4N6rclcpp11NodeOptions20use_global_argumentsEb>`__ to false, to avoid getting influenced by global arguments (Issue : `#1684 <https://github.com/ros-controls/ros2_control/issues/1684>`_) (`#1694 <https://github.com/ros-controls/ros2_control/pull/1694>`_). From now on, in order to set the parameters to the controller, the ``--param-file`` option from spawner should be used.
 * With (`#1683 <https://github.com/ros-controls/ros2_control/pull/1683>`_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 <https://github.com/ros-controls/ros2_control/pull/1240>`_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles.
 * The ``assign_interfaces`` and ``release_interfaces`` methods are now virtual, so that the user can override them to store the interfaces into custom variable types, so that the user can have the flexibility to take the ownership of the loaned interfaces to the controller (`#1743 <https://github.com/ros-controls/ros2_control/pull/1743>`_)
+* The new ``PoseSensor`` semantic component provides a standard interface for hardware providing cartesian poses (`#1775 <https://github.com/ros-controls/ros2_control/pull/1775>`_)
 
 controller_manager
 ******************