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[Fetch] add servo-off method to fetch-interface.l #152

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merged 2 commits into from
Nov 2, 2021
Merged

[Fetch] add servo-off method to fetch-interface.l #152

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c4c8c7a
add fetch servo-off method
tkmtnt7000 Oct 29, 2021
4f70765
update variable define position
tkmtnt7000 Oct 30, 2021
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50 changes: 48 additions & 2 deletions jsk_fetch_robot/fetcheus/fetch-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,11 @@

(ros::load-ros-package "fetcheus")
(ros::load-ros-package "fetch_driver_msgs")
(ros::load-ros-package "robot_controllers_msgs")

(defclass fetch-interface
:super robot-move-base-interface
:slots (gripper-action moveit-robot)
:slots (gripper-action moveit-robot controller-action)
)

(defmethod fetch-interface
Expand All @@ -32,6 +33,10 @@
(send self :delete-ground-collision-object)
(send self :add-keepout-collision-object)
(send self :add-ground-collision-object))
(setq controller-action
(instance ros::simple-action-client :init
"/query_controller_states"
robot_controllers_msgs::QueryControllerStatesAction))
))
(:state (&rest args)
"We do not have :wait-until-update option for :state :worldcoords.
Expand Down Expand Up @@ -262,7 +267,48 @@ Example: (send self :gripper :position) => 0.00"
:touch-links nil)))
(:delete-ground-collision-object ()
(send *co* :delete-attached-object-by-id "ground")
(send *co* :delete-object-by-id "ground")))
(send *co* :delete-object-by-id "ground"))
(:servo-off (&key (arm t) (gripper t) (head t))
(let ((goal-servo-off (instance robot_controllers_msgs::QueryControllerStatesGoal :init))
(goal-gripper-servo-off (instance control_msgs::GripperCommandGoal :init))
(state nil) (update-list nil)
(gravity-comp (list "arm_controller/gravity_compensation"))
(arm-controller (list "arm_controller/follow_joint_trajectory"
"arm_with_torso_controller/follow_joint_trajectory"
"torso_controller/follow_joint_trajectory"))
(head-controller (list "head_controller/follow_joint_trajectory"
"head_controller/point_head")))
(when (or arm head)
(setq update-list (send goal-servo-off :updates))
(when arm
(ros::ros-info "arm servo off")
;; start gravity compensation
(dolist (controller gravity-comp)
(setq state (instance robot_controllers_msgs::ControllerState :init))
(send state :name controller)
(send state :state 1) ;; running
(push state update-list))
;; stop arm controllers
(dolist (controller arm-controller)
(setq state (instance robot_controllers_msgs::ControllerState :init))
(send state :name controller)
(send state :state 0) ;; stopping
(push state update-list)))
(when head
;; stop head controllers
(ros::ros-info "head servo off")
(dolist (controller head-controller)
(setq state (instance robot_controllers_msgs::ControllerState :init))
(send state :name controller)
(send state :state 0) ;; stopping
(push state update-list)))
(send goal-servo-off :updates update-list)
(send controller-action :send-goal goal-servo-off))
(when gripper
;; disable gripper torque
(ros::ros-info "gripper servo off")
(send (send goal-gripper-servo-off :command) :max_effort -1.0)
(send gripper-action :send-goal goal-gripper-servo-off)))))

;; interface for simple base actions
(defmethod fetch-interface
Expand Down