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iiwa_stack 1.2
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@@ -22,7 +22,7 @@ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | |
| Most of the files were drastically modified, but the original authors inspired our work. | ||
| For everything else : | ||
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| Copyright (c) 2016, Salvatore Virga - [email protected], Marco Esposito - [email protected] | ||
| Copyright (c) 2016-2017, Salvatore Virga - [email protected], Marco Esposito - [email protected] | ||
| Technische Universität München | ||
| Chair for Computer Aided Medical Procedures and Augmented Reality | ||
| Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany | ||
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| ## IIWA STACK | ||
| ROS indigo metapackage that contains ROS packages to work with the KUKA LBR IIWA R800/R820 (7/14 Kg). | ||
| ROS Indigo/Kinetic metapackage for the KUKA LBR IIWA R800/R820 (7/14 Kg). | ||
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| **Current version : v-1.1.0 for Sunrise 1.11** | ||
| **Current version : v-1.2.0 for Sunrise 1.11** | ||
| [Using a previous version of Sunrise?](https://github.com/SalvoVirga/iiwa_stack/wiki/FAQ#which-version-of-sunriseossunrise-workbench-is-supported) | ||
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| [](https://travis-ci.org/SalvoVirga/iiwa_stack) | ||
| ___ | ||
| ### Features | ||
| - rosjava node running on the robot as a Sunrise RoboticApplication: supports ROS parameters, topics, services, actions | ||
| - SmartServo integration | ||
| - default: position control (joint or cartesian) | ||
| - joint or cartesian impedance control reconfigurable through a ROS service | ||
| - Sunrise tool can be attached to the flange in order to consider its mass for impedance control | ||
| - monitor mode with gravity compensation, enabled through SmartPad keys | ||
| - optional autonomous publication of joint_states topic | ||
| - NTP synchronization if server is running on ROS master | ||
| - Native ROSJava nodes running on the robot as a Sunrise RoboticApplication: supports ROS parameters, topics, services, etc. | ||
| - Integration of KUKA's SmartServo motions: | ||
| - joint position, joint velocity and cartesian position control via simple ROS messages. | ||
| - online configuration of JointImpedance, CartesianImpedance, DesiredForce and Sine(Force)Pattern via ROS service. | ||
| - online configuration of joint velocity and acceleration via ROS service. | ||
| - updates on the time left to reach the commanded destination via ROS service. | ||
| - The Sunrise tool to use can be selected via a ROS parameter. | ||
| - Gravity compensation by setting the appropriate JointImpedance values. | ||
| - NTP synchronization with a server running on the ROS master | ||
| - full MoveIt! integration | ||
| - Gazebo support | ||
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| There are two RoboticApplications included in our software stack: | ||
| - ROSMonitor does not perform any motion, but it constantly publishes the current | ||
| state of the robot. This is suitable for procedures in the native teaching mode | ||
| or in the custom-made gravity compensation mode. | ||
| - ROSSmartServo allows to use the Sunrise SmartServo control modes to move the robot. | ||
| The motion is fully reconfigurable at runtime, allowing to switch from any control | ||
| strategy to any other, and to change the respective parameters at runtime through a | ||
| ROS service. | ||
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| Both applications look for ROS parameters at startup, including the ID of the Sunrise | ||
| tool to attach to the flange. The IP of the robot is automatically discovered, while | ||
| the ROS master IP should be set in the configuration file included in the project. | ||
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| The communication with the robot is implemented through ROS topics: a rosjava node | ||
| runs in the context of a Sunrise application on the robot cabinet, which in turn | ||
| performs a SmartServo motion. This approach allows great flexibility, as we can | ||
| use a ROS service to reconfigure the ServoMotion at runtime (e.g. stiffness of | ||
| certain joints or around cartesian axes). Even if not real-time, we never incurred | ||
| in any communication problems on our setup: the TCP topics could scale up to 4 KHz | ||
| without compromising the ordering of the received packets. However, we also plan | ||
| to offer FRI as a drop-in replacement for ROS-topic communication as soon as it is stable. | ||
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| The state of the robot is published through a set of topics, and optionally through | ||
| the joint_states topic for compatibility with the robot_state_publisher even when | ||
| not using MoveIt!. The timestamps are correct if an NTP server runs on the ROS master, | ||
| such that the system can also be used for latency-sensitive application. | ||
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| The impedance control can be configured with respect to the stiffness and damping | ||
| for each joint, or for each and about each direction in the cartesian space. It is | ||
| possible to switch the control mode at runtime safely. | ||
| ___ | ||
| ### Usage | ||
| __The features and usage of the stack are described in depth on its [WIKI][8].__ | ||
| We **_strongly_** suggest to have a look at the wiki to have a better understanding of the code, both for its use and its extension. | ||
| Do you have problems? First, please check the [**FAQs**](https://github.com/SalvoVirga/iiwa_stack/wiki/FAQ). Issues or emails are always welcome. | ||
| Do you have problems? First, please check the [**FAQs**](https://github.com/SalvoVirga/iiwa_stack/wiki/FAQ). Issues or emails are always welcome! | ||
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| ___ | ||
| ### Citation | ||
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| If you use iiwa_stack for reseach, you could cite the following work. It is the first publication where it is used. | ||
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| @article{hennersperger2016towards, | ||
| title={Towards MRI-based Autonomous Robotic US Acquisitions: A First Feasibility Study}, | ||
| author={Hennersperger, Christoph and Fuerst, Bernhard and Virga, Salvatore and Zettinig, Oliver and Frisch, Benjamin and Neff, Thomas and Navab, Nassir}, | ||
| journal={IEEE transactions on medical imaging}, | ||
| year={2016}, | ||
| publisher={IEEE} | ||
| } | ||
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| ___ | ||
| ### Acknowledgements | ||
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@@ -62,18 +46,6 @@ This repository takes inspiration from the work of : | |
| - _Robert Krug_ and his [IIWA URDF and Gazebo package][7] | ||
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| Most of the original files were completely refactored though. | ||
| ___ | ||
| ### Overview | ||
| This packages contained in this repository are : | ||
| - __iiwa__ : the ROS metapackage | ||
| - __iiwa_control__: contains the joint and trajectory controllers used by MoveIt! and Gazebo. | ||
| - __iiwa_description__: URDF for both KUKA LBR IIWA R800 and R820. | ||
| - __iiwa_gazebo__: launch files to run a Gazebo simulation. | ||
| - __iiwa_hw__: implements the ROS hardware interface and the communication interface with the real robot (using iiwa_ros). | ||
| - __iiwa_moveit__: a MoveIt! configuration for controlling the robot (either a Gazebo simulation or a real one). | ||
| - __iiwa_msgs__: creates ROS messages to be used for communication with a real robot. | ||
| - __iiwa_ros__: an interface to send and receive messages defined in iiwa_msgs to and from a real robot. | ||
| - __iiwa_ros_java__: the ROSJava interface to use on SunriseApplications - it allows to send and receive messages defined in iiwa_msgs. | ||
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| ### Contacts | ||
| Salvatore Virga : [email protected] | ||
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| * Manuel Bonilla - [email protected] | ||
| * | ||
| * LICENSE : | ||
| * | ||
| * Copyright (C) 2016 Salvatore Virga - [email protected], Marco Esposito - [email protected] | ||
| * Copyright (C) 2016-2017 Salvatore Virga - [email protected], Marco Esposito - [email protected] | ||
| * Technische Universität München | ||
| * Chair for Computer Aided Medical Procedures and Augmented Reality | ||
| * Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany | ||
| * http://campar.in.tum.de | ||
| * All rights reserved. | ||
| * | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. | ||
| * | ||
| * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, | ||
| * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. | ||
| * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, | ||
| * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, | ||
| * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, | ||
| * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. | ||
| * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, | ||
| * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, | ||
| * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF | ||
| * THE POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * \author Salvatore Virga | ||
| * \version 1.4.0 | ||
| * \date 07/03/2016 | ||
| */ | ||
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| #ifndef IIWA_HW_H_ | ||
| #define IIWA_HW_H_ | ||
| #pragma once | ||
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| // iiwa_msgs and ROS inteface includes | ||
| #include "iiwaRos.h" | ||
| #include "iiwa_ros.h" | ||
| #include <iiwa_msgs/JointPosition.h> | ||
| #include <iiwa_msgs/JointTorque.h> | ||
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@@ -205,7 +199,7 @@ class IIWA_HW : public hardware_interface::RobotHW { | |
| ros::Rate* loop_rate_; | ||
| double control_frequency_; | ||
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| iiwaRos iiwa_ros_conn_; | ||
| iiwa_ros::iiwaRos iiwa_ros_conn_; | ||
| iiwa_msgs::JointPosition joint_position_; | ||
| iiwa_msgs::JointTorque joint_torque_; | ||
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@@ -238,5 +232,3 @@ void vectorToIiwaMsgsJoint(const std::vector<T>& v, iiwa_msgs::JointQuantity& ax | |
| ax.a6 = v[5]; | ||
| ax.a7 = v[6]; | ||
| } | ||
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| #endif //IIWA_HW_H_ | ||
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@@ -10,31 +10,27 @@ | |
| * Manuel Bonilla - [email protected] | ||
| * | ||
| * LICENSE : | ||
| * | ||
| * Copyright (C) 2016 Salvatore Virga - [email protected], Marco Esposito - [email protected] | ||
| * | ||
| * Copyright (C) 2016-2017 Salvatore Virga - [email protected], Marco Esposito - [email protected] | ||
| * Technische Universität München | ||
| * Chair for Computer Aided Medical Procedures and Augmented Reality | ||
| * Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany | ||
| * http://campar.in.tum.de | ||
| * All rights reserved. | ||
| * | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. | ||
| * | ||
| * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, | ||
| * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. | ||
| * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, | ||
| * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, | ||
| * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, | ||
| * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. | ||
| * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, | ||
| * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, | ||
| * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF | ||
| * THE POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * \author Salvatore Virga | ||
| * \version 1.4.0 | ||
| * \date 07/03/2016 | ||
| */ | ||
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| #include "iiwa_hw.h" | ||
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@@ -99,7 +95,7 @@ bool IIWA_HW::start() { | |
| throw std::runtime_error("No URDF model available"); | ||
| } | ||
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| iiwa_ros_conn_.init(false); | ||
| iiwa_ros_conn_.init(); | ||
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| // initialize and set to zero the state and command values | ||
| device_->init(); | ||
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@@ -215,8 +211,8 @@ bool IIWA_HW::read(ros::Duration period) | |
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| if (iiwa_ros_conn_.getRobotIsConnected()) { | ||
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| iiwa_ros_conn_.getReceivedJointPosition(joint_position_); | ||
| iiwa_ros_conn_.getReceivedJointTorque(joint_torque_); | ||
| iiwa_ros_conn_.getJointPosition(joint_position_); | ||
| iiwa_ros_conn_.getJointTorque(joint_torque_); | ||
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| device_->joint_position_prev = device_->joint_position; | ||
| iiwaMsgsJointToVector(joint_position_.position, device_->joint_position); | ||
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@@ -263,7 +259,7 @@ bool IIWA_HW::write(ros::Duration period) { | |
| vectorToIiwaMsgsJoint(device_->joint_position_command, command_joint_position_.position); | ||
| command_joint_position_.header.stamp = ros::Time::now(); | ||
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| iiwa_ros_conn_.setCommandJointPosition(command_joint_position_); | ||
| iiwa_ros_conn_.setJointPosition(command_joint_position_); | ||
| } | ||
| // Joint Impedance Control | ||
| else if (interface_ == interface_type_.at(1)) { | ||
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@@ -274,9 +270,8 @@ bool IIWA_HW::write(ros::Duration period) { | |
| // TODO | ||
| } | ||
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| iiwa_ros_conn_.publish(); | ||
| } else if (delta.toSec() >= 10) { | ||
| ROS_INFO("No LBR IIWA is connected. Waiting for the robot to connect before writing ..."); | ||
| ROS_INFO_STREAM("No LBR IIWA is connected. Waiting for the robot to connect before writing ..."); | ||
| timer_ = ros::Time::now(); | ||
| } | ||
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