control_xacro_config.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <moveit_setup_controllers/modified_urdf_config.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
 
namespace moveit_setup
{
namespace controllers
{
struct ControlInterfaces
{
  std::vector<std::string> command_interfaces;
  std::vector<std::string> state_interfaces;
};
 
inline std::vector<std::string> getAvailableInterfaceNames()
{
  return { "position", "velocity", "effort" };
}
 
class ControlXacroConfig : public IncludedXacroConfig
{
public:
  void onInit() override;
  void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& node) override;
  YAML::Node saveToYaml() const override;
  bool isConfigured() const override;
  std::string getFilepath() const override;
  bool hasChanges() const override;
  std::vector<std::pair<std::string, std::string>> getArguments() const override;
  std::vector<std::string> getCommands() const override;
  void loadFromDescription();
 
  bool hasAllControlTagsInOriginal() const;
 
  const ControlInterfaces& getAvailableControlInterfaces() const
  {
    return available_ci_;
  }
 
  const ControlInterfaces& getDefaultControlInterfaces() const
  {
    return default_ci_;
  }
 
  void setControlInterfaces(const ControlInterfaces& ci);
 
  const ControlInterfaces getControlInterfaces(const std::vector<std::string>& joint_names) const;
 
  std::string getJointsXML() const;
 
  class GeneratedControlHeader : public TemplatedGeneratedFile
  {
  public:
    GeneratedControlHeader(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                           ControlXacroConfig& parent)
      : TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return std::filesystem::path("config") / (parent_.urdf_config_->getRobotName() + ".ros2_control.xacro");
    }
 
    std::filesystem::path getTemplatePath() const override
    {
      return getSharePath("moveit_setup_controllers") / "templates" / "config" / "ros2_control.xacro";
    }
 
    std::string getDescription() const override
    {
      return "Macro definition for required ros2_control xacro additions.";
    }
 
    bool hasChanges() const override
    {
      return parent_.hasChanges();
    }
 
  protected:
    ControlXacroConfig& parent_;
  };
 
  class GeneratedInitialPositions : public YamlGeneratedFile
  {
  public:
    GeneratedInitialPositions(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                              ControlXacroConfig& parent)
      : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    bool hasChanges() const override
    {
      return parent_.hasChanges();
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return "config/initial_positions.yaml";
    }
 
    std::string getDescription() const override
    {
      return "Initial positions for ros2_control";
    }
 
    bool writeYaml(YAML::Emitter& emitter) override;
 
  protected:
    ControlXacroConfig& parent_;
  };
 
  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                    std::vector<GeneratedFilePtr>& files) override
  {
    files.push_back(std::make_shared<GeneratedControlHeader>(package_path, last_gen_time, *this));
    files.push_back(std::make_shared<GeneratedInitialPositions>(package_path, last_gen_time, *this));
  }
 
  void collectVariables(std::vector<TemplateVariable>& variables) override;
 
protected:
  void getControlInterfaces(const std::string& joint_name, ControlInterfaces& ci) const;
 
  std::vector<std::string> joint_names_;  
  std::unordered_map<std::string, ControlInterfaces> original_joint_interfaces_, new_joint_interfaces_;
 
  ControlInterfaces default_ci_, available_ci_;
  srdf::Model::GroupState initial_group_state_;
 
  bool changed_;
};
}  // namespace controllers
}  // namespace moveit_setup