Skip to content

Min max to attribute #25

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
bmagyar merged 7 commits into from
Sep 21, 2020
Merged

Min max to attribute #25

Changes from 2 commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
67e354c
Min-max values are now attributes of the command interface
bmagyar Sep 9, 2020
1095956
No limits for state interfaces
bmagyar Sep 9, 2020
a30869c
CamelCase and touchups
bmagyar Sep 12, 2020
cbf9f7a
StateInterface simplified
bmagyar Sep 12, 2020
d170653
renaming 2DOF.... -> RRBot...
bmagyar Sep 15, 2020
c0f1497
Min-max are child nodes everywhere
bmagyar Sep 21, 2020
e3e82b0
hola
bmagyar Sep 21, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
144 changes: 74 additions & 70 deletions design_drafts/components_architecture_and_urdf_examples.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ ros2_control implementation examples are presented for the following robot/robot
Note:
* Everything within the `<classType>` tag is implemented as a plugin.
* The examples below have some `<param>` tags defined. The names in those tags are primarily for demonstration, not part of a pre-defined XML schema. Each component may define their names inside the `<param>` tag.

#### 1. Industrial Robots with only one interface
* the communication is done using proprietary API to communicate with robot control box
* Data for all joints is exchanged in batch (at once)
Expand All @@ -39,13 +39,13 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
<joint name="joint2">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
</ros2_control>
```
Expand All @@ -71,31 +71,32 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/MultiInterfaceJoint</classType>
<commandInterfaceType>position</commandInterfaceType>
<commandInterfaceType>velocity</commandInterfaceType>
<commandInterfaceType>effort</commandInterfaceType>
<commandInterfaceType name="position">
Comment thread
bmagyar marked this conversation as resolved.
<param name="min_value">-1</param>
<param name="max_value">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min_value">-1</param>
<param name="max_value">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min_value">-0.5</param>
<param name="max_value">0.5</param>
</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
Comment thread
bmagyar marked this conversation as resolved.
Outdated
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_velocity_value">-1</param>
<param name="max_velocity_value">1</param>
<param name="min_effort_value">-0.5</param>
<param name="max_effort_value">0.5</param>

</joint>
<joint name="joint2">
<classType>ros2_control_components/MultiInterfaceJoint</classType>
<commandInterfaceType>position</commandInterfaceType>
<commandInterfaceType name="position">
<param name="min_value">-1</param>
<param name="max_value">1</param>
</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_velocity_value">-1</param>
<param name="max_velocity_value">1</param>
<param name="min_effort_value">-0.5</param>
<param name="max_effort_value">0.5</param>
</joint>
</ros2_control>
```
Expand All @@ -119,27 +120,31 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/MultiInterfaceJoint_MultiWrite</classType>

@destogl destogl Sep 9, 2020

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

CamelCase

@bmagyar bmagyar Sep 12, 2020

Copy link
Copy Markdown
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

👍

@destogl destogl Sep 10, 2020

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Can you rename this to:

"MultiInterfaceMultiWriteJoint"

@bmagyar bmagyar Sep 12, 2020

Copy link
Copy Markdown
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

done!

<commandInterfaceType>position</commandInterfaceType>
<commandInterfaceType>velocity</commandInterfaceType>
<commandInterfaceType>effort</commandInterfaceType>
<commandInterfaceType name="position">
<param name="min_value">-1</param>
<param name="max_value">1</param>
</commandInterfaceType>
<commandInterfaceType name="velocity">
<param name="min_value">-1</param>
<param name="max_value">1</param>
</commandInterfaceType>
<commandInterfaceType name="effort">
<param name="min_value">-0.5</param>
<param name="max_value">0.5</param>
</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_velocity_value">-1</param>
<param name="max_velocity_value">1</param>
<param name="min_effort_value">-0.5</param>
<param name="max_effort_value">0.5</param>
</joint>
<joint name="joint2">
<classType>ros2_control_components/MultiInterfaceJoint_MultiWrite</classType>
<commandInterfaceType>position</commandInterfaceType>
<commandInterfaceType name="position">
<param name="min_value">-1</param>
<param name="max_value">1</param>
</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>effort</stateInterfaceType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
</joint>
</ros2_control>
```
Expand All @@ -160,13 +165,13 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
<joint name="joint2">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
<sensor name="tcp_fts_sensor">
<classType>ros2_control_components/ForceTorqueSensor</classType>
Expand All @@ -182,6 +187,7 @@ Note:
<commandInterfaceType>position</commandInterfaceType>
<stateInterfaceType>position</stateInterfaceType>
```
with `min_value` and `max_value` belonging to the `commandInterfaceType` element.


#### 4. Industrial Robots with externally connected sensor
Expand All @@ -190,7 +196,7 @@ Note:
* Sensor data are exchanged independently
* Examples: KUKA RSI and FTS connected to ROS-PC

```
```xml
<ros2_control name="2DOF_System_Robot_Position_Only_External_Sensor" type="system">
<hardware>
<classType>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</classType>
Expand All @@ -199,13 +205,13 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
<joint name="joint2">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
</ros2_control>
<ros2_control name="2DOF_System_Robot_ForceTorqueSensor" type="sensor">

@destogl destogl Sep 9, 2020

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

CamelCase

@bmagyar bmagyar Sep 12, 2020

Copy link
Copy Markdown
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

it's all CamelCase now

Expand Down Expand Up @@ -236,8 +242,8 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
</ros2_control>
<ros2_control name="2DOF_Modular_Robot_joint2" type="actuator">
Expand All @@ -248,8 +254,8 @@ Note:
</hardware>
<joint name="joint2">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
</ros2_control>
```
Expand All @@ -268,9 +274,10 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/VelocityJoint</classType>
<commandInterfaceType>velocity</commandInterfaceType>
<param name="min_velocity_value">-1</param>
<param name="max_velocity_value">1</param>
<commandInterfaceType name="velocity">
<param name="min_value">-1</param>
<param name="max_value">1</param>
</commandInterfaceType>
</joint>
<transmission name="transmission1">
<classType>transmission_interface/SimpleTansmission</classType>
Expand All @@ -285,9 +292,10 @@ Note:
</hardware>
<joint name="joint2">
<classType>ros2_control_components/VelocityJoint</classType>
<commandInterfaceType>velocity</commandInterfaceType>
<param name="min_velocity_value">-1</param>
<param name="max_velocity_value">1</param>
<commandInterfaceType name="velocity">
<param name="min_value">-1</param>
<param name="max_value">1</param>
</commandInterfaceType>
</joint>
</ros2_control>
<ros2_control name="2DOF_System_Robot_Position_Sensor_joint1" type="sensor">
Expand All @@ -297,9 +305,10 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/PositionJoint</classType>
<stateInterfaceType>position</stateInterfaceType>
<param name="min_position_value">${-PI}</param>
<param name="max_position_value">${PI}</param>
<stateInterfaceType name="position">

@destogl destogl Sep 9, 2020

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This would be this optional limits for the stateInterfaceType.

Nevertheless, I did error here, I think here we should have sensor and not joint component (tag in L306))

<param name="min_value">${-PI}</param>
<param name="max_value">${PI}</param>
</stateInterfaceType>
</joint>
</ros2_control>
<ros2_control name="2DOF_System_Robot_Position_Sensor_joint2" type="sensor">
Expand All @@ -309,9 +318,10 @@ Note:
</hardware>
<joint name="joint2">
<classType>ros2_control_components/PositionJoint</classType>
<stateInterfaceType>position</stateInterfaceType>
<param name="min_position_value">${-PI}</param>
<param name="max_position_value">${PI}</param>
<stateInterfaceType name="position">
<param name="min_value">${-PI}</param>
<param name="max_value">${PI}</param>
</stateInterfaceType>
</joint>
</ros2_control>
```
Expand All @@ -333,13 +343,13 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
<joint name="joint2">
<classType>ros2_control_components/PositionJoint</classType>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
<transmission name="transmission1">
<classType>transmission_interface/SomeComplex_2x2_Transmission</classType>
Expand Down Expand Up @@ -367,16 +377,10 @@ Note:
<classType>ros2_control_components/IMUSensor</classType>
<stateInterfaceType>velocity</stateInterfaceType>
<stateInterfaceType>acceleration</stateInterfaceType>

@destogl destogl Sep 9, 2020

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I would keep the values here as an option.

@bmagyar bmagyar Sep 12, 2020

Copy link
Copy Markdown
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

roger that

<param name="min_velocity_value">-54</param>
<param name="max_velocity_value">23</param>
<param name="min_acceleration_value">-10</param>
<param name="max_acceleration_value">10</param>
</sensor>
<sensor name="sensor2">
<classType>ros2_control_components/2DImageSensor</classType>
<stateInterfaceType>image</stateInterfaceType>

@destogl destogl Sep 9, 2020

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

the same as above

<param name="min_image_value">0</param>
<param name="max_image_value">255</param>
</sensor>
</ros2_control>
```
Expand All @@ -395,8 +399,8 @@ Note:
</hardware>
<joint name="joint1">
<classType>ros2_control_components/VelocityJoint</classType>
<param name="min_velocity_value">-1</param>
<param name="max_velocity_value">1</param>
<param name="min_value">-1</param>
<param name="max_value">1</param>
</joint>
<transmission name="transmission1">
<classType>transmission_interface/RotationToLinerTansmission</classType>
Expand Down