joint_limits_rosparam.hpp

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// Copyright 2020 PAL Robotics S.L.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
 
#pragma once
 
// TODO(henning): This file is copied from the DRAFT PR https://github.com/ros-controls/ros2_control/pull/462 since the
// current ros2_control implementation does not offer the desired joint limits API, yet. Remove when ros2_control has an
// upstream version of this.
 
#include <limits>
#include <string>
 
#include <joint_limits_copy/joint_limits.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace
{
template <typename T>
void declareParameterTemplate(const rclcpp::Node::SharedPtr& node, const std::string& name, T default_value)
{
  if (not node->has_parameter(name))
  {
    node->declare_parameter<T>(name, default_value);
  }
}
}  // namespace
 
namespace joint_limits
{
inline bool declareParameters(const std::string& joint_name, const rclcpp::Node::SharedPtr& node,
                              const std::string& param_ns)
{
  const std::string param_base_name = (param_ns.empty() ? "" : param_ns + ".") + "joint_limits." + joint_name;
 
  try
  {
    declareParameterTemplate(node, param_base_name + ".has_position_limits", false);
    declareParameterTemplate(node, param_base_name + ".min_position", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".max_position", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".has_velocity_limits", false);
    declareParameterTemplate(node, param_base_name + ".min_velocity", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".max_velocity", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".has_acceleration_limits", false);
    declareParameterTemplate(node, param_base_name + ".max_acceleration", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".has_jerk_limits", false);
    declareParameterTemplate(node, param_base_name + ".max_jerk", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".has_effort_limits", false);
    declareParameterTemplate(node, param_base_name + ".max_effort", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".angle_wraparound", false);
    declareParameterTemplate(node, param_base_name + ".has_soft_limits", false);
    declareParameterTemplate(node, param_base_name + ".k_position", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".k_velocity", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".soft_lower_limit", std::numeric_limits<double>::quiet_NaN());
    declareParameterTemplate(node, param_base_name + ".soft_upper_limit", std::numeric_limits<double>::quiet_NaN());
  }
  catch (const std::exception& ex)
  {
    RCLCPP_ERROR(node->get_logger(), "%s", ex.what());
    return false;
  }
  return true;
}
 
 
inline bool getJointLimits(const std::string& joint_name, const rclcpp::Node::SharedPtr& node,
                           const std::string& param_ns, JointLimits& limits)
{
  const std::string param_base_name = (param_ns.empty() ? "" : param_ns + ".") + "joint_limits." + joint_name;
  try
  {
    if (!node->has_parameter(param_base_name + ".has_position_limits") &&
        !node->has_parameter(param_base_name + ".min_position") &&
        !node->has_parameter(param_base_name + ".max_position") &&
        !node->has_parameter(param_base_name + ".has_velocity_limits") &&
        !node->has_parameter(param_base_name + ".min_velocity") &&
        !node->has_parameter(param_base_name + ".max_velocity") &&
        !node->has_parameter(param_base_name + ".has_acceleration_limits") &&
        !node->has_parameter(param_base_name + ".max_acceleration") &&
        !node->has_parameter(param_base_name + ".has_jerk_limits") &&
        !node->has_parameter(param_base_name + ".max_jerk") &&
        !node->has_parameter(param_base_name + ".has_effort_limits") &&
        !node->has_parameter(param_base_name + ".max_effort") &&
        !node->has_parameter(param_base_name + ".angle_wraparound") &&
        !node->has_parameter(param_base_name + ".has_soft_limits") &&
        !node->has_parameter(param_base_name + ".k_position") &&
        !node->has_parameter(param_base_name + ".k_velocity") &&
        !node->has_parameter(param_base_name + ".soft_lower_limit") &&
        !node->has_parameter(param_base_name + ".soft_upper_limit"))
    {
      RCLCPP_ERROR(node->get_logger(),
                   "No joint limits specification found for joint '%s' in the parameter server "
                   "(node: %s param name: %s).",
                   joint_name.c_str(), node->get_name(), param_base_name.c_str());
      return false;
    }
  }
  catch (const std::exception& ex)
  {
    RCLCPP_ERROR(node->get_logger(), "%s", ex.what());
    return false;
  }
 
  // Position limits
  bool has_position_limits = false;
  if (node->get_parameter(param_base_name + ".has_position_limits", has_position_limits))
  {
    if (!has_position_limits)
    {
      limits.has_position_limits = false;
    }
    double min_pos, max_pos;
    if (has_position_limits && node->get_parameter(param_base_name + ".min_position", min_pos) &&
        node->get_parameter(param_base_name + ".max_position", max_pos))
    {
      limits.has_position_limits = true;
      limits.min_position = min_pos;
      limits.max_position = max_pos;
    }
 
    bool angle_wraparound;
    if (!has_position_limits && node->get_parameter(param_base_name + ".angle_wraparound", angle_wraparound))
    {
      limits.angle_wraparound = angle_wraparound;
    }
  }
 
  // Velocity limits
  bool has_velocity_limits = false;
  if (node->get_parameter(param_base_name + ".has_velocity_limits", has_velocity_limits))
  {
    if (!has_velocity_limits)
    {
      limits.has_velocity_limits = false;
    }
    double max_vel;
    if (has_velocity_limits && node->get_parameter(param_base_name + ".max_velocity", max_vel))
    {
      limits.has_velocity_limits = true;
      limits.max_velocity = max_vel;
    }
  }
 
  // Acceleration limits
  bool has_acceleration_limits = false;
  if (node->get_parameter(param_base_name + ".has_acceleration_limits", has_acceleration_limits))
  {
    if (!has_acceleration_limits)
    {
      limits.has_acceleration_limits = false;
    }
    double max_acc;
    if (has_acceleration_limits && node->get_parameter(param_base_name + ".max_acceleration", max_acc))
    {
      limits.has_acceleration_limits = true;
      limits.max_acceleration = max_acc;
    }
  }
 
  // Jerk limits
  bool has_jerk_limits = false;
  if (node->get_parameter(param_base_name + ".has_jerk_limits", has_jerk_limits))
  {
    if (!has_jerk_limits)
    {
      limits.has_jerk_limits = false;
    }
    double max_jerk;
    if (has_jerk_limits && node->get_parameter(param_base_name + ".max_jerk", max_jerk))
    {
      limits.has_jerk_limits = true;
      limits.max_jerk = max_jerk;
    }
  }
 
  // Effort limits
  bool has_effort_limits = false;
  if (node->get_parameter(param_base_name + ".has_effort_limits", has_effort_limits))
  {
    if (!has_effort_limits)
    {
      limits.has_effort_limits = false;
    }
    double max_effort;
    if (has_effort_limits && node->get_parameter(param_base_name + ".max_effort", max_effort))
    {
      limits.has_effort_limits = true;
      limits.max_effort = max_effort;
    }
  }
 
  return true;
}
 
 
inline bool getJointLimits(const std::string& joint_name, const rclcpp::Node::SharedPtr& node,
                           const std::string& param_ns, SoftJointLimits& soft_limits)
{
  const std::string param_base_name = (param_ns.empty() ? "" : param_ns + ".") + "joint_limits." + joint_name;
  try
  {
    if (!node->has_parameter(param_base_name + ".has_soft_limits") &&
        !node->has_parameter(param_base_name + ".k_velocity") &&
        !node->has_parameter(param_base_name + ".k_position") &&
        !node->has_parameter(param_base_name + ".soft_lower_limit") &&
        !node->has_parameter(param_base_name + ".soft_upper_limit"))
    {
      RCLCPP_DEBUG(node->get_logger(),
                   "No soft joint limits specification found for joint '%s' in the parameter server "
                   "(node: %s param name: %s).",
                   joint_name.c_str(), node->get_name(), param_base_name.c_str());
      return false;
    }
  }
  catch (const std::exception& ex)
  {
    RCLCPP_ERROR(node->get_logger(), "%s", ex.what());
    return false;
  }
 
  // Override soft limits if complete specification is found
  bool has_soft_limits;
  if (node->get_parameter(param_base_name + ".has_soft_limits", has_soft_limits))
  {
    if (has_soft_limits && node->has_parameter(param_base_name + ".k_position") &&
        node->has_parameter(param_base_name + ".k_velocity") &&
        node->has_parameter(param_base_name + ".soft_lower_limit") &&
        node->has_parameter(param_base_name + ".soft_upper_limit"))
    {
      node->get_parameter(param_base_name + ".k_position", soft_limits.k_position);
      node->get_parameter(param_base_name + ".k_velocity", soft_limits.k_velocity);
      node->get_parameter(param_base_name + ".soft_lower_limit", soft_limits.min_position);
      node->get_parameter(param_base_name + ".soft_upper_limit", soft_limits.max_position);
      return true;
    }
  }
 
  return false;
}
 
}  // namespace joint_limits