【ROS】ros_control、ur_modern_driver的工作原理

其他 2021-11-17 11:21:54 阅读次数: 0

基础知识

由启动语句分析

roslaunch ur_modern_driver ur3_ros_control.launch robot_ip:=192.168.1.100

ur3_ros_control.launch

<?xml version="1.0"?>
<launch>

  <!-- GDB functionality --> 
  <!--  GDB 一种调试用的工具罢了   -->
  <arg name="debug" default="false" />
  <!--  如果为假 如果为真   -->
  <arg unless="$(arg debug)" name="launch_prefix" value="" /> 
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

  <arg name="robot_ip"/>
  <arg name="limited" default="false"/>
  <arg name="min_payload"  default="0.0"/>
  <arg name="max_payload"  default="3.0"/>
  <arg name="prefix" default="" />  <!-- 前缀 -->
  <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
  <arg name="base_frame" default="$(arg prefix)base" /> <!-- 前缀 -->
  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
  <!-- robot model -->
  <include file="$(find ur_description)/launch/ur3_upload.launch">
    <arg name="limited" value="$(arg limited)"/>
  </include>


  <!-- Load hardware interface -->
  <!-- 命名 包的名字 可执行程序的名字 -->
  <node name="ur_hardware_interface" pkg="ur_modern_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
  	<!-- 声明到了参数服务器中 -->
    <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
    <param name="min_payload" type="double" value="$(arg min_payload)"/>
    <param name="max_payload" type="double" value="$(arg max_payload)"/>
    <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
    <param name="use_ros_control" type="bool" value="True"/>
    <param name="servoj_gain" type="double" value="750" />
    <param name="prefix" value="$(arg prefix)" />
    <param name="base_frame" type="str" value="$(arg base_frame)"/>
    <param name="tool_frame" type="str" value="$(arg tool_frame)"/>
  </node>

  <!-- Load controller settings -->
  <!--读取参数 -->
  <rosparam file="$(find ur_modern_driver)/config/ur3_controllers.yaml" command="load"/>

  <!-- 以下应该都是ros control的东西了 -->
  <!-- spawn controller manager -->
  <!-- 生成控制器管理器 -->
  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="joint_state_controller force_torque_sensor_controller pos_based_pos_traj_controller" />

  <!-- load other controller -->
  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
    output="screen" args="load vel_based_pos_traj_controller" />

  <!-- Convert joint states to /tf tranforms -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

</launch>

ur3_upload.launch

<?xml version="1.0"?>
<launch>
  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />

  <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />   <!--  传递给xacro文件的   -->
  <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
</launch>

数据流

使用rqr_graph查看节点间的关系图
在这里插入图片描述
其他都很好理解，主要问题是spawner节点打开的controller——pos_based_pos_traj_controller是如何体现在下面的（moveit->硬件）
？->ur_hardware_interface实现实例化来使用。
实际上是通过 action机制传递在一起的。

在这里插入图片描述
可以看出moveit是客户

ur_modern_driver（UR的驱动的底层实现方式）

  • 官方文档

  • 关键是找到他是如何加载controller的。

  • 他的消息机制是如何实现的。

  • URscripts是如何发送的。

  • controller的功能是如何实现的

代码结构解析如下：

.
├── CMakeLists.txt
├── config
│   ├── ur10_controllers.yaml
│   ├── ur3_controllers.yaml
│   └── ur5_controllers.yaml
├── include
│   └── ur_modern_driver
│       ├── do_output.h
│       ├── robot_state.h
│       ├── robot_state_RT.h
│       ├── ur_communication.h
│       ├── ur_dashboard.h
│       ├── ur_driver.h
│       ├── ur_hardware_interface.h
│       └── ur_realtime_communication.h
├── launch
│   ├── ur10_bringup_compatible.launch
│   ├── ur10_bringup_joint_limited.launch
│   ├── ur10_bringup.launch
│   ├── ur10_ros_control.launch
│   ├── ur3_bringup_joint_limited.launch
│   ├── ur3_bringup.launch
│   ├── ur3_ros_control.launch
│   ├── ur5_bringup_compatible.launch
│   ├── ur5_bringup_joint_limited.launch
│   ├── ur5_bringup.launch
│   ├── ur5_ros_control.launch
│   └── ur_common.launch
├── LICENSE
├── package.xml
├── README.md
├── src
│   ├── do_output.cpp
│   ├── robot_state.cpp
│   ├── robot_state_RT.cpp
│   ├── ur_communication.cpp
│   ├── ur_dashboard.cpp
│   ├── ur_driver.cpp
│   ├── ur_hardware_interface.cpp
│   ├── ur_realtime_communication.cpp
│   └── ur_ros_wrapper.cpp // main函数
├── test_move.py
└── tree.txt

5 directories, 38 files

这里主要看src下的文件结构即可。

ur_ros_wrapper.cpp

- main 函数所在
- 声明了类RosWrapper来实现各种功能 
- 其中的循环等待线程机制见《ROS机器人开发实践》P40
- wrapper 读取参数并且通过ur_driver【一堆set】设置参数

int main(int argc, char **argv) {
    
    
	bool use_sim_time = false;
	std::string host;
	int reverse_port = 50001;//http://wiki.ros.org/ur_driver/hydro 机器人返回给PC的端口

	ros::init(argc, argv, "ur_driver");
	ros::NodeHandle nh;
	if (ros::param::get("use_sim_time", use_sim_time)) {
    
    
		print_warning("use_sim_time is set!!");
	}
	if (!(ros::param::get("~robot_ip_address", host))) {
    
    
		if (argc > 1) {
    
    
			print_warning(
					"Please set the parameter robot_ip_address instead of giving it as a command line argument. This method is DEPRECATED");
			//请设置参数robot_ip_address，而不是将其作为命令行参数提供。此方法已弃用
			host = argv[1];
		} else {
    
    
			print_fatal(
					"Could not get robot ip. Please supply it as command line parameter or on the parameter server as robot_ip");
			exit(1);
		}

	}
	if ((ros::param::get("~reverse_port", reverse_port))) {
    
    
		if((reverse_port <= 0) or (reverse_port >= 65535)) {
    
    
			print_warning("Reverse port value is not valid (Use number between 1 and 65534. Using default value of 50001");
			reverse_port = 50001;
		}
	} else
		reverse_port = 50001;

	RosWrapper interface(host, reverse_port);

	ros::AsyncSpinner spinner(3); //多线程处理多个接收
	spinner.start();

	ros::waitForShutdown();

	interface.halt();

	exit(0);
}

ur_driver.cpp

  • 对机器人的一些设置操作，写URScripts然后加入到发送队列中（此时就转到了ur_realtime_communication中）。
class UrDriver {
    
    
private:
	double maximum_time_step_;
	double minimum_payload_;
	double maximum_payload_;
	std::vector<std::string> joint_names_;
	std::string ip_addr_;
	const int MULT_JOINTSTATE_ = 1000000;
	const int MULT_TIME_ = 1000000;
	const unsigned int REVERSE_PORT_;
	int incoming_sockfd_;
	int new_sockfd_;
	bool reverse_connected_;
	double servoj_time_;
	bool executing_traj_;
	double firmware_version_;
	double servoj_lookahead_time_;
	double servoj_gain_;
public:
	UrRealtimeCommunication* rt_interface_;
	UrCommunication* sec_interface_;
	UrDashboard* dash_interface_;

	UrDriver(std::condition_variable& rt_msg_cond,
			std::condition_variable& msg_cond, std::string host,
			unsigned int reverse_port = 50007, double servoj_time = 0.016, unsigned int safety_count_max =
					12, double max_time_step = 0.08, double min_payload = 0.,
			double max_payload = 1., double servoj_lookahead_time=0.03, double servoj_gain=300.);
	bool start();
	void halt();

	void setSpeed(double q0, double q1, double q2, double q3, double q4,
			double q5, double acc = 100.);

	bool doTraj(std::vector<double> inp_timestamps,
			std::vector<std::vector<double> > inp_positions,
			std::vector<std::vector<double> > inp_velocities);
	void servoj(std::vector<double> positions, int keepalive = 1);

	void stopTraj();

	bool uploadProg();
	bool openServo();
	void closeServo(std::vector<double> positions);

	std::vector<double> interp_cubic(double t, double T,
			std::vector<double> p0_pos, std::vector<double> p1_pos,
			std::vector<double> p0_vel, std::vector<double> p1_vel);

	std::vector<std::string> getJointNames();
	void setJointNames(std::vector<std::string> jn);
	void setToolVoltage(unsigned int v);
	void setFlag(unsigned int n, bool b);
	void setDigitalOut(unsigned int n, bool b);
	void setAnalogOut(unsigned int n, double f);
	bool setPayload(double m);

	void setMinPayload(double m);
	void setMaxPayload(double m);
	void setServojTime(double t);
	void setServojLookahead(double t);
	void setServojGain(double g);

};

ur_realtime_communication.h

do_output.h

定义输出

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