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add ros parameters file to node context #60

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ahcorde merged 7 commits into from
Mar 3, 2021
Merged

add ros parameters file to node context #60

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944432c
use upstream yaml parser
Karsten1987 Feb 17, 2021
3fc2a5f
uncrustify
Karsten1987 Feb 17, 2021
1047c22
add conditional
Karsten1987 Feb 18, 2021
7a8a62b
manually add parameters to node context
Karsten1987 Feb 24, 2021
59db1df
linters
Karsten1987 Feb 24, 2021
b46c5c8
Load controllers in the example launch files
ahcorde Mar 2, 2021
b1f5184
Merge pull request #64 from ros-simulation/fix_params_examples
Karsten1987 Mar 2, 2021
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294 changes: 91 additions & 203 deletions gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -180,11 +180,38 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element

if (sdf->HasElement("parameters")) {
impl_->param_file_ = sdf->GetElement("parameters")->Get<std::string>();
RCLCPP_INFO(
impl_->model_nh_->get_logger(), "Loading parameter file %s\n", impl_->param_file_.c_str());
} else {
RCLCPP_ERROR(
impl_->model_nh_->get_logger(), "No parameter file provided. Configuration might be wrong");
}

// There's currently no direct way to set parameters to the plugin's node
// So we have to parse the plugin file manually and set it to the node's context.
auto rcl_context = impl_->model_nh_->get_node_base_interface()->get_context()->get_rcl_context();
std::vector<std::string> arguments = {"--ros-args", "--params-file", impl_->param_file_.c_str()};
std::vector<const char *> argv;
for (const auto & arg : arguments) {
argv.push_back(reinterpret_cast<const char *>(arg.data()));
}
rcl_arguments_t rcl_args = rcl_get_zero_initialized_arguments();
rcl_ret_t rcl_ret = rcl_parse_arguments(
static_cast<int>(argv.size()),
argv.data(), rcl_get_default_allocator(), &rcl_args);
rcl_context->global_arguments = rcl_args;
if (rcl_ret != RCL_RET_OK) {
RCLCPP_ERROR(impl_->model_nh_->get_logger(), "parser error %s\n", rcl_get_error_string().str);
rcl_reset_error();
return;
}
if (rcl_arguments_get_param_files_count(&rcl_args) < 1) {
RCLCPP_ERROR(
impl_->model_nh_->get_logger(), "failed to parse yaml file: '%s'\n",
impl_->param_file_.c_str());
return;
}

// Get the Gazebo simulation period
rclcpp::Duration gazebo_period(
std::chrono::duration_cast<std::chrono::nanoseconds>(
Expand Down Expand Up @@ -214,215 +241,76 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
new pluginlib::ClassLoader<gazebo_ros2_control::GazeboSystemInterface>(
"gazebo_ros2_control",
"gazebo_ros2_control::GazeboSystemInterface"));

for (unsigned int i = 0; i < control_hardware.size(); i++) {
std::string robot_hw_sim_type_str_ = control_hardware[i].hardware_class_type;
auto gazeboSystem = std::unique_ptr<gazebo_ros2_control::GazeboSystemInterface>(
impl_->robot_hw_sim_loader_->createUnmanagedInstance(robot_hw_sim_type_str_));

rclcpp::Node::SharedPtr node_ros2 = std::dynamic_pointer_cast<rclcpp::Node>(impl_->model_nh_);
if (!gazeboSystem->initSim(
node_ros2,
impl_->parent_model_,
control_hardware[i],
sdf))
{
RCLCPP_FATAL(
impl_->model_nh_->get_logger(), "Could not initialize robot simulation interface");
return;
}

resource_manager_->import_component(std::move(gazeboSystem));
}

impl_->executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();

auto spin = [this]()
{
while (rclcpp::ok()) {
impl_->executor_->spin_once();
}
};
impl_->thread_executor_spin_ = std::thread(spin);

// Create the controller manager
RCLCPP_INFO(impl_->model_nh_->get_logger(), "Loading controller_manager");
impl_->controller_manager_.reset(
new controller_manager::ControllerManager(
std::move(resource_manager_),
impl_->executor_,
"controller_manager"));
impl_->executor_->add_node(impl_->controller_manager_);

// TODO(anyone): Coded example here. should disable when spawn functionality of
// controller manager is up
auto load_params_from_yaml_node = [](rclcpp::Node::SharedPtr node,
YAML::Node & yaml_node, const std::string & prefix)
{
std::function<void(YAML::Node, const std::string &,
std::shared_ptr<rclcpp::Node>, const std::string &)>
feed_yaml_to_node_rec =
[&](YAML::Node yaml_node, const std::string & key,
std::shared_ptr<rclcpp::Node> node, const std::string & prefix)
{
if (node->get_name() != prefix) {
return;
}
static constexpr char separator = '.';
if (yaml_node.Type() == YAML::NodeType::Scalar) {
std::string val_str = yaml_node.as<std::string>();

// TODO(ddengster): Do stricter typing for set_parameter value types.
// (ie. Numbers should be converted to int/double/etc instead of strings)
if (!node->has_parameter(key)) {
node->declare_parameter(key);
}

auto is_number = [](const std::string & str) -> bool {
return str.find_first_not_of("0123456789.-") == std::string::npos;
// @note: bugs with .05 or 15.
};

if (is_number(val_str)) {
std::stringstream ss(val_str);
double v = 0.0;
ss >> v;
node->set_parameter(rclcpp::Parameter(key, v));
} else {
node->set_parameter(rclcpp::Parameter(key, val_str));
}
return;
} else if (yaml_node.Type() == YAML::NodeType::Map) {
for (auto yaml_node_it : yaml_node) {
std::string newkey = yaml_node_it.first.as<std::string>();
if (newkey == prefix || newkey == "ros__parameters") {
newkey = "";
} else if (!key.empty()) {
newkey = key + separator + newkey;
}
feed_yaml_to_node_rec(yaml_node_it.second, newkey, node, prefix);
}
} else if (yaml_node.Type() == YAML::NodeType::Sequence) {
auto it = yaml_node.begin();
if (yaml_node.size()) {
if (it->IsScalar()) {
// submit as array of parameters
std::vector<std::string> val;
for (auto yaml_node_it : yaml_node) {
std::string name = yaml_node_it.as<std::string>();
val.push_back(name);
}
if (!node->has_parameter(key)) {
node->declare_parameter(key);
}
node->set_parameter({rclcpp::Parameter(key, val)});
} else {
size_t index = 0;
for (auto yaml_node_it : yaml_node) {
std::string newkey = std::to_string((index++));
if (!key.empty()) {
newkey = key + separator + newkey;
}
feed_yaml_to_node_rec(yaml_node_it, newkey, node, prefix);
}
}
}
}
};
if (node->get_name() != prefix) {
return;
}
feed_yaml_to_node_rec(yaml_node, prefix, node, prefix);
};
auto load_params_from_yaml = [&](rclcpp::Node::SharedPtr node,
const std::string & yaml_config_file, const std::string & prefix)
{
if (yaml_config_file.empty()) {
throw std::runtime_error("yaml config file path is empty");
}
YAML::Node root_node = YAML::LoadFile(yaml_config_file);
for (auto yaml : root_node) {
auto nodename = yaml.first.as<std::string>();
RCLCPP_DEBUG(impl_->model_nh_->get_logger(), "nodename: %s", nodename.c_str());
if (nodename == prefix) {
load_params_from_yaml_node(node, yaml.second, prefix);
}
}
};

// Start controller, will take effect at the end of the update function
std::vector<std::string> start_controllers = {};
std::vector<std::string> stop_controllers = {};

YAML::Node root_node = YAML::LoadFile(impl_->param_file_);
for (auto yaml : root_node) {
auto controller_manager_node_name = yaml.first.as<std::string>();
if (controller_manager_node_name == "controller_manager") {
for (auto yaml_node_it : yaml.second) { // ros__parameters
for (auto controller_manager_params_it : yaml_node_it.second) {
auto controller_name = controller_manager_params_it.first.as<std::string>();

if (controller_name == "update_rate") {
float udpate_rate = controller_manager_params_it.second.as<float>();
// Decide the plugin control period
impl_->control_period_ = rclcpp::Duration(
std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::duration<double>(1.0 / udpate_rate)));

// Check the period against the simulation period
if (impl_->control_period_ < gazebo_period) {
RCLCPP_ERROR_STREAM(
impl_->model_nh_->get_logger(),
"Desired controller update period (" << impl_->control_period_.seconds() <<
" s) is faster than the gazebo simulation period (" <<
gazebo_period.seconds() << " s).");
} else if (impl_->control_period_ > gazebo_period) {
RCLCPP_WARN_STREAM(
impl_->model_nh_->get_logger(),
" Desired controller update period (" << impl_->control_period_.seconds() <<
" s) is slower than the gazebo simulation period (" <<
gazebo_period.seconds() << " s).");
}
} else {
for (auto controller_type_it : controller_manager_params_it.second) {
auto controller_type = controller_type_it.second.as<std::string>();
auto controller = impl_->controller_manager_->load_controller(
controller_name,
controller_type);
impl_->controllers_.push_back(controller);
load_params_from_yaml(
controller->get_node(),
impl_->param_file_,
controller_name);
controller->configure();
start_controllers.push_back(controller_name);
}
}
}
}
break;
}
}

auto switch_future = std::async(
std::launch::async,
&controller_manager::ControllerManager::switch_controller,
impl_->controller_manager_,
start_controllers, stop_controllers,
2, true, rclcpp::Duration(0, 0)); // STRICT_: 2
while (std::future_status::timeout == switch_future.wait_for(std::chrono::milliseconds(100))) {
impl_->controller_manager_->update();
}
controller_interface::return_type result = switch_future.get();
if (result != controller_interface::return_type::SUCCESS) {
RCLCPP_ERROR(impl_->model_nh_->get_logger(), "Error initializing the joint_state_controller");
}
} catch (pluginlib::LibraryLoadException & ex) {
RCLCPP_ERROR(
impl_->model_nh_->get_logger(), "Failed to create robot simulation interface loader: %s ",
ex.what());
}

for (unsigned int i = 0; i < control_hardware.size(); i++) {
std::string robot_hw_sim_type_str_ = control_hardware[i].hardware_class_type;
auto gazeboSystem = std::unique_ptr<gazebo_ros2_control::GazeboSystemInterface>(
impl_->robot_hw_sim_loader_->createUnmanagedInstance(robot_hw_sim_type_str_));

rclcpp::Node::SharedPtr node_ros2 = std::dynamic_pointer_cast<rclcpp::Node>(impl_->model_nh_);
if (!gazeboSystem->initSim(
node_ros2,
impl_->parent_model_,
control_hardware[i],
sdf))
{
RCLCPP_FATAL(
impl_->model_nh_->get_logger(), "Could not initialize robot simulation interface");
return;
}

resource_manager_->import_component(std::move(gazeboSystem));
}

impl_->executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();

// Create the controller manager
RCLCPP_INFO(impl_->model_nh_->get_logger(), "Loading controller_manager");
impl_->controller_manager_.reset(
new controller_manager::ControllerManager(
std::move(resource_manager_),
impl_->executor_,
"controller_manager"));
impl_->executor_->add_node(impl_->controller_manager_);

if (!impl_->controller_manager_->has_parameter("update_rate")) {
RCLCPP_ERROR_STREAM(
impl_->model_nh_->get_logger(), "controller manager doesn't have an update_rate parameter");
return;
}

auto cm_update_rate = impl_->controller_manager_->get_parameter("update_rate").as_int();
impl_->control_period_ = rclcpp::Duration(
std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::duration<double>(1.0 / static_cast<double>(cm_update_rate))));
// Check the period against the simulation period
if (impl_->control_period_ < gazebo_period) {
RCLCPP_ERROR_STREAM(
impl_->model_nh_->get_logger(),
"Desired controller update period (" << impl_->control_period_.seconds() <<
" s) is faster than the gazebo simulation period (" <<
gazebo_period.seconds() << " s).");
} else if (impl_->control_period_ > gazebo_period) {
RCLCPP_WARN_STREAM(
impl_->model_nh_->get_logger(),
" Desired controller update period (" << impl_->control_period_.seconds() <<
" s) is slower than the gazebo simulation period (" <<
gazebo_period.seconds() << " s).");
}

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auto spin = [this]()
{
while (rclcpp::ok()) {
impl_->executor_->spin_once();
}
};
impl_->thread_executor_spin_ = std::thread(spin);

// Listen to the update event. This event is broadcast every simulation iteration.
impl_->update_connection_ =
gazebo::event::Events::ConnectWorldUpdateBegin(
Expand Down
25 changes: 24 additions & 1 deletion gazebo_ros2_control_demos/launch/cart_example_effort.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,8 @@


from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch_ros.actions import Node
Expand Down Expand Up @@ -55,7 +56,29 @@ def generate_launch_description():
'-entity', 'cartpole'],
output='screen')

load_joint_state_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
output='screen'
)

load_effort_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'effort_controllers'],
output='screen'
)

return LaunchDescription([
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=spawn_entity,
on_exit=[load_joint_state_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_controller,
on_exit=[load_effort_controller],
)
),
gazebo,
node_robot_state_publisher,
spawn_entity,
Expand Down
25 changes: 24 additions & 1 deletion gazebo_ros2_control_demos/launch/cart_example_position.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,8 @@


from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch_ros.actions import Node
Expand Down Expand Up @@ -55,7 +56,29 @@ def generate_launch_description():
'-entity', 'cartpole'],
output='screen')

load_joint_state_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
output='screen'
)

load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_trajectory_controller'],
output='screen'
)

return LaunchDescription([
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=spawn_entity,
on_exit=[load_joint_state_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_controller,
on_exit=[load_joint_trajectory_controller],
)
),
gazebo,
node_robot_state_publisher,
spawn_entity,
Expand Down
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