From 3899a770602983fb2cadf2954d73690239fc5448 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Tue, 23 Jan 2024 15:32:38 +0100 Subject: [PATCH] Add header to import limits from standard URDF definition (#1298) (cherry picked from commit f3ffb5632e1094f737cf366b326d75202842958a) --- joint_limits/CMakeLists.txt | 4 + .../joint_limits/joint_limits_urdf.hpp | 85 +++++++++ joint_limits/package.xml | 1 + joint_limits/test/joint_limits_urdf_test.cpp | 177 ++++++++++++++++++ 4 files changed, 267 insertions(+) create mode 100644 joint_limits/include/joint_limits/joint_limits_urdf.hpp create mode 100644 joint_limits/test/joint_limits_urdf_test.cpp diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt index 82467514a3..aa4f540149 100644 --- a/joint_limits/CMakeLists.txt +++ b/joint_limits/CMakeLists.txt @@ -8,6 +8,7 @@ endif() set(THIS_PACKAGE_INCLUDE_DEPENDS rclcpp rclcpp_lifecycle + urdf ) find_package(ament_cmake REQUIRED) @@ -31,6 +32,9 @@ if(BUILD_TESTING) ament_add_gtest_executable(joint_limits_rosparam_test test/joint_limits_rosparam_test.cpp) target_link_libraries(joint_limits_rosparam_test joint_limits) + ament_add_gtest(joint_limits_urdf_test test/joint_limits_urdf_test.cpp) + target_link_libraries(joint_limits_urdf_test joint_limits) + add_launch_test(test/joint_limits_rosparam.launch.py) install( TARGETS joint_limits_rosparam_test diff --git a/joint_limits/include/joint_limits/joint_limits_urdf.hpp b/joint_limits/include/joint_limits/joint_limits_urdf.hpp new file mode 100644 index 0000000000..daa0d707d8 --- /dev/null +++ b/joint_limits/include/joint_limits/joint_limits_urdf.hpp @@ -0,0 +1,85 @@ +// Copyright 2024 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. + +/// \author Adolfo Rodriguez Tsouroukdissian + +#ifndef JOINT_LIMITS_URDF_HPP +#define JOINT_LIMITS_URDF_HPP + +#include "joint_limits/joint_limits.hpp" +#include "urdf_model/joint.h" + +namespace joint_limits +{ + +/** + * \brief Populate a JointLimits instance from URDF joint data. + * \param[in] urdf_joint URDF joint. + * \param[out] limits Where URDF joint limit data gets written into. Limits in \e urdf_joint will + * overwrite existing values. Values in \e limits not present in \e urdf_joint remain unchanged. + * \return True if \e urdf_joint has a valid limits specification, false otherwise. + */ +inline bool getJointLimits(urdf::JointConstSharedPtr urdf_joint, JointLimits & limits) +{ + if (!urdf_joint || !urdf_joint->limits) + { + return false; + } + + limits.has_position_limits = + urdf_joint->type == urdf::Joint::REVOLUTE || urdf_joint->type == urdf::Joint::PRISMATIC; + if (limits.has_position_limits) + { + limits.min_position = urdf_joint->limits->lower; + limits.max_position = urdf_joint->limits->upper; + } + + if (!limits.has_position_limits && urdf_joint->type == urdf::Joint::CONTINUOUS) + { + limits.angle_wraparound = true; + } + + limits.has_velocity_limits = true; + limits.max_velocity = std::abs(urdf_joint->limits->velocity); + + limits.has_acceleration_limits = false; + + limits.has_effort_limits = true; + limits.max_effort = std::abs(urdf_joint->limits->effort); + + return true; +} + +/** + * \brief Populate a SoftJointLimits instance from URDF joint data. + * \param[in] urdf_joint URDF joint. + * \param[out] soft_limits Where URDF soft joint limit data gets written into. + * \return True if \e urdf_joint has a valid soft limits specification, false otherwise. + */ +inline bool getSoftJointLimits(urdf::JointConstSharedPtr urdf_joint, SoftJointLimits & soft_limits) +{ + if (!urdf_joint || !urdf_joint->safety) + { + return false; + } + + soft_limits.min_position = urdf_joint->safety->soft_lower_limit; + soft_limits.max_position = urdf_joint->safety->soft_upper_limit; + soft_limits.k_position = urdf_joint->safety->k_position; + soft_limits.k_velocity = urdf_joint->safety->k_velocity; + + return true; +} +} // namespace joint_limits +#endif // JOINT_LIMITS_URDF_HPP diff --git a/joint_limits/package.xml b/joint_limits/package.xml index ca90152c05..b96bde3575 100644 --- a/joint_limits/package.xml +++ b/joint_limits/package.xml @@ -16,6 +16,7 @@ rclcpp rclcpp_lifecycle + urdf launch_testing_ament_cmake ament_cmake_gtest diff --git a/joint_limits/test/joint_limits_urdf_test.cpp b/joint_limits/test/joint_limits_urdf_test.cpp new file mode 100644 index 0000000000..27d660afd7 --- /dev/null +++ b/joint_limits/test/joint_limits_urdf_test.cpp @@ -0,0 +1,177 @@ +// Copyright 2024 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. + +/// \author Adolfo Rodriguez Tsouroukdissian +#include "joint_limits/joint_limits_urdf.hpp" +#include "gtest/gtest.h" + +using std::string; +using namespace joint_limits; + +class JointLimitsUrdfTest : public ::testing::Test +{ +public: + JointLimitsUrdfTest() + { + urdf_limits.reset(new urdf::JointLimits); + urdf_limits->effort = 8.0; + urdf_limits->velocity = 2.0; + urdf_limits->lower = -1.0; + urdf_limits->upper = 1.0; + + urdf_safety.reset(new urdf::JointSafety); + urdf_safety->k_position = 20.0; + urdf_safety->k_velocity = 40.0; + urdf_safety->soft_lower_limit = -0.8; + urdf_safety->soft_upper_limit = 0.8; + + urdf_joint.reset(new urdf::Joint); + urdf_joint->limits = urdf_limits; + urdf_joint->safety = urdf_safety; + + urdf_joint->type = urdf::Joint::UNKNOWN; + } + +protected: + urdf::JointLimitsSharedPtr urdf_limits; + urdf::JointSafetySharedPtr urdf_safety; + urdf::JointSharedPtr urdf_joint; +}; + +TEST_F(JointLimitsUrdfTest, GetJointLimits) +{ + // Unset URDF joint + { + JointLimits limits; + urdf::JointSharedPtr urdf_joint_bad; + EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits)); + } + + // Unset URDF limits + { + JointLimits limits; + urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint); + EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits)); + } + + // Valid URDF joint, CONTINUOUS type + { + urdf_joint->type = urdf::Joint::CONTINUOUS; + + JointLimits limits; + EXPECT_TRUE(getJointLimits(urdf_joint, limits)); + + // Position + EXPECT_FALSE(limits.has_position_limits); + EXPECT_TRUE(limits.angle_wraparound); + + // Velocity + EXPECT_TRUE(limits.has_velocity_limits); + EXPECT_DOUBLE_EQ(urdf_joint->limits->velocity, limits.max_velocity); + + // Acceleration + EXPECT_FALSE(limits.has_acceleration_limits); + + // Effort + EXPECT_TRUE(limits.has_effort_limits); + EXPECT_DOUBLE_EQ(urdf_joint->limits->effort, limits.max_effort); + } + + // Valid URDF joint, REVOLUTE type + { + urdf_joint->type = urdf::Joint::REVOLUTE; + + JointLimits limits; + EXPECT_TRUE(getJointLimits(urdf_joint, limits)); + + // Position + EXPECT_TRUE(limits.has_position_limits); + EXPECT_DOUBLE_EQ(urdf_joint->limits->lower, limits.min_position); + EXPECT_DOUBLE_EQ(urdf_joint->limits->upper, limits.max_position); + EXPECT_FALSE(limits.angle_wraparound); + + // Velocity + EXPECT_TRUE(limits.has_velocity_limits); + EXPECT_DOUBLE_EQ(urdf_joint->limits->velocity, limits.max_velocity); + + // Acceleration + EXPECT_FALSE(limits.has_acceleration_limits); + + // Effort + EXPECT_TRUE(limits.has_effort_limits); + EXPECT_DOUBLE_EQ(urdf_joint->limits->effort, limits.max_effort); + } + + // Valid URDF joint, PRISMATIC type + { + urdf_joint->type = urdf::Joint::PRISMATIC; + + JointLimits limits; + EXPECT_TRUE(getJointLimits(urdf_joint, limits)); + + // Position + EXPECT_TRUE(limits.has_position_limits); + EXPECT_DOUBLE_EQ(urdf_joint->limits->lower, limits.min_position); + EXPECT_DOUBLE_EQ(urdf_joint->limits->upper, limits.max_position); + EXPECT_FALSE(limits.angle_wraparound); + + // Velocity + EXPECT_TRUE(limits.has_velocity_limits); + EXPECT_DOUBLE_EQ(urdf_joint->limits->velocity, limits.max_velocity); + + // Acceleration + EXPECT_FALSE(limits.has_acceleration_limits); + + // Effort + EXPECT_TRUE(limits.has_effort_limits); + EXPECT_DOUBLE_EQ(urdf_joint->limits->effort, limits.max_effort); + } +} + +TEST_F(JointLimitsUrdfTest, GetSoftJointLimits) +{ + using namespace joint_limits; + + // Unset URDF joint + { + SoftJointLimits soft_limits; + urdf::JointSharedPtr urdf_joint_bad; + EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits)); + } + + // Unset URDF limits + { + SoftJointLimits soft_limits; + urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint); + EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits)); + } + + // Valid URDF joint + { + SoftJointLimits soft_limits; + EXPECT_TRUE(getSoftJointLimits(urdf_joint, soft_limits)); + + // Soft limits + EXPECT_DOUBLE_EQ(urdf_joint->safety->soft_lower_limit, soft_limits.min_position); + EXPECT_DOUBLE_EQ(urdf_joint->safety->soft_upper_limit, soft_limits.max_position); + EXPECT_DOUBLE_EQ(urdf_joint->safety->k_position, soft_limits.k_position); + EXPECT_DOUBLE_EQ(urdf_joint->safety->k_velocity, soft_limits.k_velocity); + } +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +}