Skip to content

Optional robot state initialization #61

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

Open
captain-yoshi wants to merge 1 commit into
base: noetic-devel
Choose a base branch
from
Open

Optional robot state initialization #61

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 include/ros_control_boilerplate/generic_hw_interface.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,7 @@ class GenericHWInterface : public hardware_interface::RobotHW

// Configuration
std::vector<std::string> joint_names_;
std::vector<double> initial_state_;
std::size_t num_joints_;
urdf::Model* urdf_model_;

Expand Down
19 changes: 19 additions & 0 deletions src/generic_hw_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,15 @@ GenericHWInterface::GenericHWInterface(const ros::NodeHandle& nh, urdf::Model* u
nh_, "hardware_interface"); // TODO(davetcoleman): change the namespace to "generic_hw_interface" aka name_
std::size_t error = 0;
error += !rosparam_shortcuts::get(name_, rpnh, "joints", joint_names_);

if (rpnh.hasParam("initial_state"))
{
error += !rosparam_shortcuts::get(name_, rpnh, "initial_state", initial_state_);

if (initial_state_.size() != joint_names_.size())
ROS_WARN("skipping initial_state, does not match joints size");
}

rosparam_shortcuts::shutdownIfError(name_, error);
}

Expand All @@ -81,6 +90,16 @@ void GenericHWInterface::init()
joint_velocity_limits_.resize(num_joints_, 0.0);
joint_effort_limits_.resize(num_joints_, 0.0);

// Initialize robot state
if (initial_state_.size() != num_joints_)
{
initial_state_.clear();
initial_state_.resize(joint_names_.size(), 0.0);
}

for (std::size_t i = 0; i < num_joints_; ++i)
joint_position_[i] = initial_state_[i];

// Initialize interfaces for each joint
for (std::size_t joint_id = 0; joint_id < num_joints_; ++joint_id)
{
Expand Down