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Adding reset revolution counter service (#325) #343

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Adding reset revolution counter service (#325) #343

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eaac144
Adding reset revolution counter service (#325)
cambel Mar 24, 2021
217d3d0
Stopping controllers before resetting revolution counter (#325)
cambel Mar 25, 2021
3df3d31
adding mutex and calling handleRobotProgramState (#325)
cambel Mar 26, 2021
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4 changes: 4 additions & 0 deletions ur_robot_driver/doc/ROS_INTERFACE.md
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Expand Up @@ -760,6 +760,10 @@ Setup the mounted payload through a ROS service

Calling this service will zero the robot's ftsensor. Note: On e-Series robots this will only work when the robot is in remote-control mode.

##### reset_revolution_counter ([std_srvs/Trigger](http://docs.ros.org/api/std_srvs/html/srv/Trigger.html))

Calling this service will reset the revolution counter for the robot's wrist_3_link. Note: On e-Series robots this will only work when the robot is in remote-control mode.
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Just want to clarify for the future reader that it is only the UR3 that will benefits from this.

Suggested change
Calling this service will reset the revolution counter for the robot's wrist_3_link. Note: On e-Series robots this will only work when the robot is in remote-control mode.
The UR3 and UR3e's wrist 3 can do infinite rotations and are therefore not limited to ±2Pi.
Calling this service will reset the revolution counter for the robot's wrist_3_link. Note: On e-Series robots this will only work when the robot is in remote-control mode.
This is handy to avoid rotating back after e.g. a screwing task, and thereby avoid compensating for this in the program.

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Might be nice to make this even stronger and have the service fail if the robot is not a UR3.

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I suppose something like this:

bool HardwareInterface::resetRevolutionCounter(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
{
  if (ur_driver_->getName() == 'UR3e' || ur_driver_->getName() == 'UR3')
  {
    std::mutex mtx;
    handleRobotProgramState(false);
    mtx.lock();
    res.success = this->ur_driver_->sendScript(R"(sec resetRevolutionCounter():
    reset_revolution_counter()
  end
  )");
    mtx.unlock();
    handleRobotProgramState(true);
  }
  else
  {
    std::stringstream ss;
    ss << "Resetting the revolution counter is only available for UR3/e robots. This robot is "
       << ur_driver_->getName();
    ROS_ERROR_STREAM(ss.str());
    res.message = ss.str();
    res.success = false;
  }
  return true;
}

Though, I don't know where to get the robot's name...

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@fmauch fmauch Mar 26, 2021 •
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Out of my head I am not sure whether there's something predefined to get the robot model through the API. But that would have been my next point on the list.

Edit: Currently, this is not available through the API. Receiving it through the dashboard client would be a workaround to not further postpone this PR. Alternatively it could be received through the primary interface, but that is currently not implemented.

@gavanderhoorn wrote:

Might be nice to make this even stronger and have the service fail if the robot is not a UR3.

I would even have supposed to advertise it only for UR3(e) robots. But that might be more confusing than simply letting the service fail...


#### Parameters

##### dashboard/receive_timeout (Required)
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2 changes: 2 additions & 0 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.h
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Expand Up @@ -200,6 +200,7 @@ class HardwareInterface : public hardware_interface::RobotHW
bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& res);
bool resendRobotProgram(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
bool zeroFTSensor(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
bool resetRevolutionCounter(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
void commandCallback(const std_msgs::StringConstPtr& msg);

std::unique_ptr<urcl::UrDriver> ur_driver_;
Expand All @@ -215,6 +216,7 @@ class HardwareInterface : public hardware_interface::RobotHW

ros::ServiceServer deactivate_srv_;
ros::ServiceServer tare_sensor_srv_;
ros::ServiceServer reset_revolution_counter_srv_;
ros::ServiceServer set_payload_srv_;

hardware_interface::JointStateInterface js_interface_;
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22 changes: 22 additions & 0 deletions ur_robot_driver/src/hardware_interface.cpp
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Expand Up @@ -33,6 +33,8 @@

#include <Eigen/Geometry>

#include <mutex>

using industrial_robot_status_interface::RobotMode;
using industrial_robot_status_interface::TriState;
// using namespace urcl::rtde_interface;
Expand Down Expand Up @@ -384,6 +386,11 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
// work when the robot is in remote-control mode.
tare_sensor_srv_ = robot_hw_nh.advertiseService("zero_ftsensor", &HardwareInterface::zeroFTSensor, this);

// Calling this service will reset the revolution counter for the robot's wrist_3_link. Note: On e-Series robots this
// will only work when the robot is in remote-control mode.
reset_revolution_counter_srv_ =
robot_hw_nh.advertiseService("reset_revolution_counter", &HardwareInterface::resetRevolutionCounter, this);

ur_driver_->startRTDECommunication();
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface");

Expand Down Expand Up @@ -912,6 +919,21 @@ end
return true;
}

bool HardwareInterface::resetRevolutionCounter(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
{
std::mutex mtx;
mtx.lock();
handleRobotProgramState(false);
res.success = this->ur_driver_->sendScript(R"(sec resetRevolutionCounter():
reset_revolution_counter()
end
)");
ros::Duration(0.1).sleep(); // wait for the reset to be done
handleRobotProgramState(true);
mtx.unlock();
return true;
}

void HardwareInterface::commandCallback(const std_msgs::StringConstPtr& msg)
{
std::string str = msg->data;
Expand Down