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ROS机器人Diego制作19-diego机器人的moveit驱动

ROS机器人Diego制作19-diego机器人的moveit驱动

说明:

  • 介绍开发针对diego的驱动
  • moveit作为一个很好的机械臂路径规划工具,大大降低了机械臂的开发的难度,很多功能都可以在模拟环境下测试运行。
  • 如前面博客中讲到的,但要让真实的机器人能够按照moveit规划好的路径动起来,就需要开发连接机器人和moveit的驱动代码。

驱动的原理

  • 图示:
    请输入图片描述

  • 上图为通讯原理

  • 首先,moveit把计算的结果通过Ros action的方式发送给driver,driver调用Ros_arduino_bridge的servor_write server发送各个关节舵机的控制指令给Arduino uno控制板

  • 其次,同时Driver也要通过调用Ros_arduino_bridge的servo_read服务读取各个关节的舵机状态,通过joint_state消息的方式发送给moveit,供moveit进行路径规划计算。

  • 在前面的博文中ros_arduino_bridge和arduino uno相应的修改都已经介绍过,这里就不在说明,主要的工作就是在driver上

控制器配置文件

  • 根据moveit官方的说明我们需要针对我们机械臂的控制器配置文件,并把其放在moveit assistant产生的配置文件目录的config子目录下,我这里配置文件起名为diego_controllers.yaml

  • 图示:
    请输入图片描述

  • 配置文件代码如下:

controller_list:
  - name: left_arm_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - left_shoulder_stevo_to_axis
      - left_shoulder_stevo_lift_to_axis
      - left_big_arm_up_to_axis
      - left_small_arm_up_to_axis
      - left_wrist_run_stevo_to_axis
  - name: rigth_arm_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - right_shoulder_stevo_to_axis
      - right_shoulder_stevo_lift_to_axis
      - right_big_arm_up_to_axis
      - right_small_arm_up_to_axis
      - right_wrist_run_stevo_to_axis
  - name: right_gripper_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - right_hand_run_stevo_to_right_hand_run_stevo_axis
  - name: left_gripper_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - left_hand_run_stevo_to_left_hand_run_stevo_axis

官方的解释如下

  • The parameters are:

    • name: The name of the controller. (See debugging information below for important notes).
    • action_ns: The action namespace for the controller. (See debugging information below for important notes).
    • type: The type of action being used (here FollowJointTrajectory).
    • default: The default controller is the primary controller chosen by MoveIt! for communicating with a particular set of joints.
    • joints: Names of all the joints that are being addressed by this interface.
  • 通俗点理解/name/action_ns就是对应控制器的ros topic, diego配置文件中对于左臂的ros_topic就是/left_arm_controller/follow_joint_trajectory

  • type就是我们在drive中要声明的action service类型,在diego的driver中需要提供FollowJointTrajectoryAction接收moveit action client发送来的消息

joint.py关节类

  • 代码如下:
from ros_arduino_msgs.srv import *
class Joint:

    ## @brief Constructs a Joint instance.
    ##
    ## @param servoNum The servo number.
    ## 
    ## @param name The joint name.
    def __init__(self, name, servoNum, range):
        self.name = name #关节名称
        self.servoNum=servoNum #对应的舵机编号
        self.range=range #舵机的控制范围,这里是0~180度

        self.position = 0.0 
        self.velocity = 0.0
        self.last = rospy.Time.now()
        ## @brief Set the current position.
    def setCurrentPosition(self):
        rospy.wait_for_service('/arduino/servo_write')
        try:
            servo_write=rospy.ServiceProxy('/arduino/servo_write',ServoWrite)
            servo_write(self.servoNum,self.position)
        except rospy.ServiceException, e:
            print "Service call failed: %s"%e  

action server 控制器文件

  • follow_controller.py 就是主要的驱动文件

JointTrajectory msg

  • 驱动的核心其实就是follow_controller对JointTrajectory msg的处理,所以这里先介绍一下JointTrajectory msg,只要理解了JointTrajectory msg,其实驱动还是比较容易的。
  • 在命令执行,如下命令就可以显示了JointTrajectory msg的结构
$ rosmsg show JointTrajectory
  • 图示:
    请输入图片描述

  • 可以看到消息的结构体中包含了三部分

    • a. header , 这是Ros的标准消息头这里就不多介绍了
    • b. joint_names , 这是所有关节名称的数组
    • c.JointTrajectoryPoint 这部分是驱动的关键,这个数组记录了机械臂从一种姿势到另外一种姿势所经过的路径点,moveit所产生的姿势路径是通过这些point点描述出来的,也就是我们驱动中要控制每个关节的舵机都按照这些point点进行运动,
      • 每个point又是由一个结构体构成:
        • positions这是一个float64的数组,记录每个point的时候舵机应该到达的角度,这里是弧度为单位的,比如说是6自由度的那每个Point的这个positions字段中应该包含六个数值[1.57,0,2,0.2,3,0.12],也就是我们舵机控制范围是180度,那这里面的取值范围就是0~π
        • velocities这个数组记录了每个关节运动的速度
        • accelerations这个数组记录每个关节运动的加速度
        • effort这个参数不知道中文应该如何翻译,可以不用
    • d.time_from_start这个参数是指定从头部的timestamp开始算起多长时间要达到这个点的位置

follow_controller的初始化代码

  • 初始化代码主要就是初始化joints列表,同时启动action Server:
  • 代码如下:
def __init__(self, name):
        self.name = name

        # rates
        self.rate = 20.0

        # left Arm jonits list
        self.left_shoulder_stevo_to_axis=Joint(left_shoulder_stevo_to_axis,6,PI)
        self.left_shoulder_stevo_lift_to_axis=Joint(left_shoulder_stevo_lift_to_axis,7,PI)
        self.left_big_arm_up_to_axis=Joint(left_big_arm_up_to_axis,8,PI)
        self.left_small_arm_up_to_axis=Joint(left_small_arm_up_to_axis,9,PI)
        self.left_wrist_run_stevo_to_axis=Joint(left_wrist_run_stevo_to_axis,10,PI)

        self.joints=list()
        self.joints.append(left_shoulder_stevo_to_axis)
        self.joints.append(left_shoulder_stevo_lift_to_axis)
        self.joints.append(left_big_arm_up_to_axis)
        self.joints.append(left_small_arm_up_to_axis)
        self.joints.append(left_wrist_run_stevo_to_axis)


        # left hand joint
        self.left_hand_run_stevo_to_left_hand_run_stevo_axis=Joint(left_hand_run_stevo_to_left_hand_run_stevo_axis,11,PI)
        self.joints.append(left_hand_run_stevo_to_left_hand_run_stevo_axis)

        # right Arm jonits
        self.right_shoulder_stevo_to_axis=Joint(right_shoulder_stevo_to_axis,0,PI)
        self.right_shoulder_stevo_lift_to_axis=Joint(right_shoulder_stevo_lift_to_axis,1,PI)
        self.right_big_arm_up_to_axis=Joint(right_big_arm_up_to_axis,2,PI)
        self.right_small_arm_up_to_axis=Joint(right_small_arm_up_to_axis,3,PI)
        self.right_wrist_run_stevo_to_axis=Joint(right_wrist_run_stevo_to_axis,4,PI)

        self.joints.append(right_shoulder_stevo_to_axis)
        self.joints.append(right_shoulder_stevo_lift_to_axis)
        self.joints.append(right_big_arm_up_to_axis)
        self.joints.append(right_small_arm_up_to_axis)
        self.joints.append(right_wrist_run_stevo_to_axis)

        # left hand joint
        self.right_hand_run_stevo_to_right_hand_run_stevo_axis=Joint(right_hand_run_stevo_to_right_hand_run_stevo_axis,5,PI)
        self.joints.append(right_hand_run_stevo_to_right_hand_run_stevo_axis)        

        # set the left arm back to the resting position
        rospy.loginfo("set the left arm back to the resting position")
        self.left_shoulder_stevo_to_axis.setCurrentPosition(PI/2)
        self.left_shoulder_stevo_lift_to_axis.setCurrentPosition(PI/2)
        self.left_big_arm_up_to_axis.setCurrentPosition(PI/2)
        self.left_small_arm_up_to_axis.setCurrentPosition(PI/2)
        self.left_wrist_run_stevo_to_axis.setCurrentPosition(PI/2)
        # set the right arm back to the resting position
        rospy.loginfo("set the right arm back to the resting position")
        self.right_shoulder_stevo_to_axis.setCurrentPosition(PI/2)
        self.right_shoulder_stevo_lift_to_axis.setCurrentPosition(PI/2)
        self.right_big_arm_up_to_axis.setCurrentPosition(PI/2)
        self.right_small_arm_up_to_axis.setCurrentPosition(PI/2)
        self.right_wrist_run_stevo_to_axis.setCurrentPosition(PI/2)
        # set the left hand back to the resting position
        rospy.loginfo("set the left hand back to the resting position")
        self.left_hand_run_stevo_to_left_hand_run_stevo_axis.setCurrentPosition(PI/2)
        # set the right hand back to the resting position
        rospy.loginfo("set the right hand back to the resting position")
        self.right_hand_run_stevo_to_right_hand_run_stevo_axis.setCurrentPosition(PI/2)

        # action server
        self.server = actionlib.SimpleActionServer('follow_joint_trajectory', FollowJointTrajectoryAction, execute_cb=self.actionCb, auto_start=True)
        rospy.loginfo("Started FollowController")

actionCb函数

  • 在初始化代码中Action Service的回调函数是actionCb,也就是收到msg后就会调用这个函数,对于节点舵机的控制也就是在这个函数中实现,代码的实现原理见下面的代码注释:

  • 代码:

def actionCb(self, goal):
        rospy.loginfo(self.name + ": Action goal recieved.")
        traj = goal.trajectory 

        if not traj.points:#判断收到的消息是否为空
            msg = "Trajectory empy."
            rospy.logerr(msg)
            self.server.set_aborted(text=msg)
            return  

        try:
            indexes = [traj.joint_names.index(joint.name) for joint in self.joints]#按照joints列表的顺序对traj的数据进行排序,把排序数据放到indexes中
        except ValueError as val:
            msg = "Trajectory invalid."
            rospy.logerr(msg)
            self.server.set_aborted(text=msg)
            return

        start = traj.header.stamp#当前的时间戳
        if start.secs == 0 and start.nsecs == 0:
            start = rospy.Time.now()

        r = rospy.Rate(self.rate)
        for point in traj.points:            
            desired = [ point.positions[k] for k in indexes ]#期望的控制点
            for i in indexes
                self.joints[i].position=desired[i]#控制点对应的舵机的位置
                self.joints[i].setCurrentPosition()#发送舵机的控制命令

            while rospy.Time.now() + rospy.Duration(0.01) < start:#如果当前时间小于舵机这个点预期完成时间,则等待
                rospy.sleep(0.01)                        

        rospy.loginfo(self.name + ": Done.")
  • 在此段代码中,忽略了控制速度和加速度的设置,因为我们此机械臂的舵机无法控制舵机的速度和加速度,只要能到达预期控制点就可以了。

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