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[Admittance] multiple state/command interfaces #1196

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[Admittance] multiple state/command interfaces #1196

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10ad1c3
fix: read/writes all configured state/command interfaces. Adjust stat…
MarcoMagriDev Jul 6, 2024
f427c4d
fix: uses correct `has` flags in read/write methods
MarcoMagriDev Jul 6, 2024
7ac93f6
fix: makes position state interface mandatory, adds compatibility wit…
MarcoMagriDev Jul 6, 2024
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24 changes: 15 additions & 9 deletions admittance_controller/src/admittance_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -244,6 +244,12 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
has_acceleration_state_interface_ = contains_interface_type(
admittance_->parameters_.state_interfaces, hardware_interface::HW_IF_ACCELERATION);

if (!has_position_state_interface_)
{
RCLCPP_ERROR(get_node()->get_logger(), "Position state interface is required.");
return CallbackReturn::FAILURE;
}

auto get_interface_list = [](const std::vector<std::string> & interface_types)
{
std::stringstream ss_command_interfaces;
Expand Down Expand Up @@ -470,7 +476,7 @@ void AdmittanceController::read_state_from_hardware(
bool nan_acceleration = false;

size_t pos_ind = 0;
size_t vel_ind = pos_ind + has_velocity_command_interface_;
size_t vel_ind = pos_ind + has_velocity_state_interface_;
size_t acc_ind = vel_ind + has_acceleration_state_interface_;
for (size_t joint_ind = 0; joint_ind < num_joints_; ++joint_ind)
{
Expand All @@ -480,13 +486,13 @@ void AdmittanceController::read_state_from_hardware(
state_interfaces_[pos_ind * num_joints_ + joint_ind].get_value();
nan_position |= std::isnan(state_current.positions[joint_ind]);
}
else if (has_velocity_state_interface_)
if (has_velocity_state_interface_)
{
state_current.velocities[joint_ind] =
state_interfaces_[vel_ind * num_joints_ + joint_ind].get_value();
nan_velocity |= std::isnan(state_current.velocities[joint_ind]);
}
else if (has_acceleration_state_interface_)
if (has_acceleration_state_interface_)
{
state_current.accelerations[joint_ind] =
state_interfaces_[acc_ind * num_joints_ + joint_ind].get_value();
Expand Down Expand Up @@ -523,24 +529,24 @@ void AdmittanceController::write_state_to_hardware(
{
// if any interface has nan values, assume state_commanded is the last command state
size_t pos_ind = 0;
size_t vel_ind = pos_ind + has_velocity_command_interface_;
size_t acc_ind = vel_ind + has_acceleration_state_interface_;
size_t vel_ind = (has_position_command_interface_) ? has_velocity_command_interface_ : pos_ind;
size_t acc_ind = vel_ind + has_acceleration_command_interface_;
for (size_t joint_ind = 0; joint_ind < num_joints_; ++joint_ind)
{
if (has_position_command_interface_)
{
command_interfaces_[pos_ind * num_joints_ + joint_ind].set_value(
state_commanded.positions[joint_ind]);
}
else if (has_velocity_command_interface_)
if (has_velocity_command_interface_)
{
command_interfaces_[vel_ind * num_joints_ + joint_ind].set_value(
state_commanded.positions[joint_ind]);
state_commanded.velocities[joint_ind]);
}
else if (has_acceleration_command_interface_)
if (has_acceleration_command_interface_)
{
command_interfaces_[acc_ind * num_joints_ + joint_ind].set_value(
state_commanded.positions[joint_ind]);
state_commanded.accelerations[joint_ind]);
}
}
last_commanded_ = state_commanded;
Expand Down
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