Update for the new OM-Y Follower hardware #273
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…he latest version of Dynamixel Hardware Interface
- New End unit hardware is now fixed
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Summary of Changes
This pull request introduces updates for the new OM-Y Follower hardware, focusing on enhancing joint initialization and control. The changes primarily involve modifications to the open_manipulator_bringup and open_manipulator_description packages. A key aspect is the update of ROS2 control parameters to improve hardware interaction, including switching to action-based control for smoother trajectories and adjusting dynamixel parameters.
Highlights
- Action-based Control: The
init_position_for_follower.pyscript is updated to use action clients forFollowJointTrajectory, replacing the previous publisher-based approach. This allows for smoother, more controlled joint movements using quintic polynomial trajectory generation. - New Script for Packing Position: A new script,
pack_position_for_follower.py, is added, mirroring the functionality ofinit_position_for_follower.pybut with slightly different target positions. Both scripts now implement a step-by-step movement approach. - Dynamixel Parameter Adjustments: Several XACRO files in
open_manipulator_descriptionare modified to adjust Dynamixel hardware parameters, including changingerror_timeout_sectoerror_timeout_msand updating baud rates and drive modes for the follower and leader systems. - URDF Macro Updates: The URDF XACRO files are updated to include the new end unit and follower system configurations, streamlining the robot description process.
Changelog
Click here to see the changelog
- open_manipulator_bringup/scripts/init_position_for_follower.py
- Replaced publisher with action client for
FollowJointTrajectory. - Implemented step-by-step movement using smooth quintic polynomial trajectories.
- Added feedback and goal response callbacks for action client.
- Initialized target positions based on current joint states.
- Reduced error threshold for smoother motion.
- Added logging for current and target positions, and current step.
- Replaced publisher with action client for
- open_manipulator_bringup/scripts/pack_position_for_follower.py
- Added a new script that mirrors the functionality of
init_position_for_follower.pybut with slightly different target positions. - Implements step-by-step movement using smooth quintic polynomial trajectories.
- Includes action client for
FollowJointTrajectoryand related callbacks.
- Added a new script that mirrors the functionality of
- open_manipulator_description/ros2_control/open_manipulator_x_system.ros2_control.xacro
- Changed
error_timeout_sectoerror_timeout_msand set the value to 500. - Removed
ros_update_freqparameter.
- Changed
- open_manipulator_description/ros2_control/open_manipulator_y_end_unit.ros2_control.xacro
- Added a new XACRO file to define the ROS2 control parameters for the OM-Y end unit, including Dynamixel hardware interface settings and GPIO configurations.
- open_manipulator_description/ros2_control/open_manipulator_y_follower_system.ros2_control.xacro
- Changed
port_nameto/dev/ttyAMA2andbaud_rateto 6250000. - Changed
error_timeout_sectoerror_timeout_msand set the value to 500. - Reduced the number of joints and transmissions to 6.
- Removed
ros_update_freqparameter. - Removed joint limits from joint definitions.
- Modified drive modes and homing offsets for specific joints.
- Replaced
dxl7GPIO withomy_hatGPIO, configuring controller parameters.
- Changed
- open_manipulator_description/ros2_control/open_manipulator_y_leader_system.ros2_control.xacro
- Changed
error_timeout_sectoerror_timeout_msand set the value to 500. - Removed
ros_update_freqparameter. - Added reboot and torque setting services.
- Added drive mode and operating mode parameters to the gpio definitions.
- Changed
- open_manipulator_description/ros2_control/open_manipulator_y_system.ros2_control.xacro
- Changed
error_timeout_sectoerror_timeout_msand set the value to 500. - Removed
ros_update_freqparameter.
- Changed
- open_manipulator_description/urdf/om_y/open_manipulator_y.urdf.xacro
- Removed conditional inclusion of follower URDF.
- Included
open_manipulator_y_end_unit.ros2_control.xacro.
- open_manipulator_description/urdf/om_y_follower/open_manipulator_y_follower.urdf.xacro
- Created a new XACRO file for the OM-Y follower URDF, including necessary gazebo and ros2 control macros.
- open_manipulator_description/urdf/om_y_leader/open_manipulator_y_leader.urdf.xacro
- Added use_sim, use_fake_hardware, and fake_sensor_commands arguments.
- Included open_manipulator_y_leader_system.ros2_control.xacro.
- open_manipulator_moveit_config/config/om_y_follower/initial_positions.yaml
- Created a new YAML file for initial joint positions of the OM-Y follower.
- open_manipulator_moveit_config/config/om_y_follower/joint_limits.yaml
- Created a new YAML file for joint limits of the OM-Y follower.
- open_manipulator_moveit_config/config/om_y_follower/kinematics.yaml
- Created a new YAML file for kinematics configuration of the OM-Y follower.
- open_manipulator_moveit_config/config/om_y_follower/moveit.rviz
- Created a new RViz configuration file for the OM-Y follower.
- open_manipulator_moveit_config/config/om_y_follower/moveit_controllers.yaml
- Created a new YAML file for MoveIt controllers configuration of the OM-Y follower.
- open_manipulator_moveit_config/config/om_y_follower/moveit_servo.yaml
- Created a new YAML file for MoveIt Servo configuration of the OM-Y follower.
- open_manipulator_moveit_config/config/om_y_follower/ompl_planning.yaml
- Created a new YAML file for OMPL planning configuration of the OM-Y follower.
- open_manipulator_moveit_config/config/om_y_follower/open_manipulator_y_follower.srdf
- Created a new SRDF file for the OM-Y follower, defining groups, states, and collision settings.
- open_manipulator_moveit_config/config/om_y_leader/initial_positions.yaml
- Updated the description of the initial positions YAML file for the OM-Y leader.
- open_manipulator_moveit_config/config/om_y_leader/open_manipulator_y_leader.srdf
- Updated the robot name in the SRDF file for the OM-Y leader.
- Corrected the base link name in the disable collisions section.
- open_manipulator_moveit_config/config/om_y_leader/ros2_controllers_leader.yaml
- Added kinetic friction scalars and torque scaling factors to the ros2 controllers configuration.
- open_manipulator_moveit_config/launch/move_group.launch.py
- Added om_y_leader to the list of valid ROBOT_MODEL values.
- Added a case for om_y_leader to set the urdf_file and urdf_folder variables.
- open_manipulator_moveit_config/launch/moveit_rviz.launch.py
- Added om_y_leader to the list of valid ROBOT_MODEL values.
- Added a case for om_y_leader to set the urdf_file and urdf_folder variables.
- ros2_controller/om_gravity_compensation_controller/include/gravity_compensation_controller/gravity_compensation_controller.hpp
- Replaced relative includes with bracketed includes.
- Replaced gravity_compensation_controller_parameters.hpp with om_gravity_compensation_controller/gravity_compensation_controller_parameters.hpp.
- Removed dof_ member variable.
- Added previous_velocities_ member variable.
- ros2_controller/om_gravity_compensation_controller/src/gravity_compensation_controller.cpp
- Replaced relative includes with bracketed includes.
- Calculated joint accelerations from velocity using finite difference.
- Populated joint accelerations from state interfaces.
- Updated previous velocities for next iteration.
- Replaced dof_ with n_joints_ in error messages.
- Replaced relative includes with bracketed includes.
- ros2_controller/om_gravity_compensation_controller/src/gravity_compensation_controller_parameters.yaml
- Set default values for unloaded_effort_offsets and unloaded_effort_thresholds to 0.0.
- Set default values for static_friction_scalars and static_friction_velocity_thresholds to 0.0.
- Set default values for torque_scaling_factors to 1.0.
- Set default values for kinetic_friction_torque_scalars to 3.0.
- ros2_controller/om_joint_trajectory_command_broadcaster/include/joint_trajectory_command_broadcaster/joint_trajectory_command_broadcaster.hpp
- Replaced relative includes with bracketed includes.
- Replaced joint_trajectory_command_broadcaster_parameters.hpp with om_joint_trajectory_command_broadcaster/joint_trajectory_command_broadcaster_parameters.hpp.
- ros2_controller/om_joint_trajectory_command_broadcaster/src/joint_trajectory_command_broadcaster.cpp
- Replaced relative includes with bracketed includes.
- ros2_controller/om_spring_actuator_controller/include/spring_actuator_controller/spring_actuator_controller.hpp
- Replaced relative includes with bracketed includes.
- Replaced spring_actuator_controller_parameters.hpp with om_spring_actuator_controller/spring_actuator_controller_parameters.hpp.
- ros2_controller/om_spring_actuator_controller/src/spring_actuator_controller.cpp
- Replaced relative includes with bracketed includes.
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Code Review
This pull request introduces updates to the open_manipulator_bringup and open_manipulator_description packages, focusing on enhancing joint initialization and control, particularly for the new OM-Y Follower hardware. The changes include updates to ROS2 control parameters and the introduction of new scripts for position initialization. Overall, the changes seem well-structured and address the intended improvements.
Summary of Findings
- Action Client Usage: The transition from publishing JointTrajectory messages to using the FollowJointTrajectory action client is a significant change that should improve the control and feedback mechanisms. However, ensure that the action server is robust and handles potential errors gracefully.
- Trajectory Generation: The implementation of quintic polynomial trajectory generation in
create_smooth_trajectoryis a good approach for smoother motion. Verify that the trajectory generation handles edge cases and joint limits correctly. - Error Handling and Recovery: The code includes some basic error handling, such as checking for action server availability. Consider adding more comprehensive error handling and recovery mechanisms, especially for hardware-related issues.
- Parameter Updates: The changes in
open_manipulator_descriptioninvolve updating parameters likeerror_timeout_msandbaud_rate. Ensure that these parameters are correctly tuned for the new hardware and that they are configurable.
Merge Readiness
The pull request introduces significant updates and new features that appear to improve the control and initialization of the manipulator's joints. However, before merging, it's crucial to address the identified issues, particularly those related to error handling, trajectory generation edge cases, and parameter tuning. Given the high and critical severity comments, I recommend that the pull request not be merged until those are addressed (at a minimum). I am unable to directly approve the pull request, and users should have others review and approve this code before merging.
- Removed open-manipulator-y-cdc.rules and associated udev script. - Renamed and updated initialization scripts for x and y positions. - Added new launch files for packing and unpacking operations. - Adjusted launch configurations for hardware components and initialization sequences. - Improved structure and organization of scripts for better maintainability.
…figurations - Added new script `init_position_y_follower.py` for follower initialization. - Updated launch file to use the new follower script instead of the old one. - Adjusted logging messages to reflect the changes in script names. - Changed permissions for `pack_unpack_y.py` to make it executable.
Signed-off-by: Sungho Woo <[email protected]>
Description
This pull request introduces significant updates to the
open_manipulator_bringupandopen_manipulator_descriptionpackages to enhance the initialization and control of the manipulator's joints. The most important changes include the updates to the ROS2 control parameters for better hardware interaction.