Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix: adds gazebo gravity vector to the gravity calculation #177

Merged
merged 1 commit into from
Nov 24, 2021
Merged

fix: adds gazebo gravity vector to the gravity calculation #177

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions CHANGELOG.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
* **BREAKING** Make `/panda` namespace of `franka_gazebo` optional
* Add effort joint trajectory controller to be used by MoveIT
* Make finger collisions primitive in `franka_gazebo`
* add 'gravity_vector' gravity ROS parameter to FrankaHWSim

## 0.8.1 - 2021-09-08

Expand Down
2 changes: 2 additions & 0 deletions franka_gazebo/include/franka_gazebo/franka_hw_sim.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,8 @@ class FrankaHWSim : public gazebo_ros_control::RobotHWSim {
void eStopActive(const bool active) override;

private:
std::array<double, 3> gravity_earth_;

std::string arm_id_;
gazebo::physics::ModelPtr robot_;
std::map<std::string, std::shared_ptr<franka_gazebo::Joint>> joints_;
Expand Down
14 changes: 12 additions & 2 deletions franka_gazebo/src/franka_hw_sim.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,11 @@ bool FrankaHWSim::initSim(const std::string& robot_namespace,

ROS_INFO_STREAM_NAMED("franka_hw_sim", "Using physics type " << physics->GetType());

// Retrieve initial gravity vector from Gazebo
// NOTE: Can be overwritten by the user via the 'gravity_vector' ROS parameter.
auto gravity = physics->World()->Gravity();
this->gravity_earth_ = {gravity.X(), gravity.Y(), gravity.Z()};

// Generate a list of franka_gazebo::Joint to store all relevant information
for (const auto& transmission : transmissions) {
if (transmission.type_ != "transmission_interface/SimpleTransmission") {
Expand Down Expand Up @@ -200,7 +205,7 @@ void FrankaHWSim::initFrankaModelHandle(
" joints were found beneath the <transmission> tag, but 2 are required.");
}

for (auto& joint : transmission.joints_) {
for (const auto& joint : transmission.joints_) {
if (not urdf.getJoint(joint.name_)) {
if (not urdf.getJoint(joint.name_)) {
throw std::invalid_argument("Cannot create franka_hw/FrankaModelInterface for robot '" +
Expand Down Expand Up @@ -307,7 +312,7 @@ void FrankaHWSim::readSim(ros::Time time, ros::Duration period) {
}

void FrankaHWSim::writeSim(ros::Time /*time*/, ros::Duration /*period*/) {
auto g = this->model_->gravity(this->robot_state_);
auto g = this->model_->gravity(this->robot_state_, this->gravity_earth_);

for (auto& pair : this->joints_) {
auto joint = pair.second;
Expand Down Expand Up @@ -353,6 +358,11 @@ bool FrankaHWSim::readParameters(const ros::NodeHandle& nh, const urdf::Model& u
nh.param<std::string>("EE_T_K", EE_T_K, "1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1");
this->robot_state_.EE_T_K = readArray<16>(EE_T_K, "EE_T_K");

std::string gravity_vector;
if (nh.getParam("gravity_vector", gravity_vector)) {
this->gravity_earth_ = readArray<3>(gravity_vector, "gravity_vector");
}

// Only nominal cases supported for now
std::vector<double> lower_torque_thresholds = franka_hw::FrankaHW::getCollisionThresholds(
"lower_torque_thresholds_nominal", nh, {20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0});
Expand Down