Skip to content
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

Feature/head and sensorring #593

Merged
merged 6 commits into from
Jan 20, 2017
Merged

Feature/head and sensorring #593

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
161e217
added external sync mode, generate CAN config on-the-fly
mathias-luedtke Dec 14, 2016
86a4748
overwrite sync interval only in external sync mode
mathias-luedtke Dec 14, 2016
6d5516e
use external and shared sync mode on cob4-10
mathias-luedtke Dec 14, 2016
71dae05
head and sensorring on one bus
Jan 19, 2017
36241ab
adapt diagnostics
Jan 19, 2017
2604cae
activate 3dof head
Jan 20, 2017
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
10 changes: 9 additions & 1 deletion cob_bringup/components/canopen_base.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,15 +1,23 @@
<?xml version="1.0"?>
<launch>
<arg name="robot"/>
<arg name="component_name" default="base"/>
<arg name="component_name" value="base"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>

<arg name="can_device" default="can0"/>
<arg name="interval_ms" value="20"/>
<arg name="use_external_sync" value="false"/>
<arg name="start_external_sync" value="false"/>

<arg name="sim" default="false"/>

<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="$(arg component_name)"/>
<arg name="can_device" value="$(arg can_device)"/>
<arg name="interval_ms" value="$(arg interval_ms)"/>
<arg name="use_external_sync" value="$(arg use_external_sync)"/>
<arg name="start_external_sync" value="$(arg start_external_sync)"/>
</include>
<include file="$(find cob_bringup)/controllers/base_controller_plugin.launch">
<arg name="robot" value="$(arg robot)"/>
Expand Down
8 changes: 8 additions & 0 deletions cob_bringup/components/canopen_generic.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,22 @@
<launch>
<arg name="robot"/>
<arg name="component_name"/>

<arg name="can_device"/>
<arg name="interval_ms" default="10"/>
<arg name="use_external_sync" default="false"/>
<arg name="start_external_sync" default="$(arg use_external_sync)"/>

<arg name="cartesian_control" default="false"/>
<arg name="sim" default="false"/>

<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="$(arg component_name)"/>
<arg name="can_device" value="$(arg can_device)"/>
<arg name="interval_ms" value="$(arg interval_ms)"/>
<arg name="use_external_sync" value="$(arg use_external_sync)"/>
<arg name="start_external_sync" value="$(arg start_external_sync)"/>
</include>
<include file="$(find cob_bringup)/controllers/generic_controller.launch">
<arg name="robot" value="$(arg robot)"/>
Expand Down
15 changes: 13 additions & 2 deletions cob_bringup/drivers/canopen_402.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,22 @@
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
<arg name="component_name"/>
<arg name="can_device"/>
<arg name="interval_ms"/>
<arg name="overflow" default="0"/>
<arg name="use_external_sync"/>
<arg name="start_external_sync"/>

<!-- start external sync node if requested -->
<node ns="$(arg component_name)" pkg="canopen_chain_node" type="canopen_sync_node" name="sync_$(arg can_device)" output="screen" if="$(arg start_external_sync)">
<rosparam subst_value="True">{bus: { device: $(arg can_device) }, sync: { interval_ms: $(arg interval_ms), overflow: $(arg overflow) } }</rosparam>
</node>

<!-- parameters for CANopen node -->
<!-- start canopen node -->
<node ns="$(arg component_name)" pkg="canopen_motor_node" type="canopen_motor_node" name="driver" output="screen" clear_params="true">
<rosparam param="bus/device" subst_value="True">$(arg can_device)</rosparam>
<rosparam command="load" file="$(arg pkg_hardware_config)/$(arg robot)/config/$(arg component_name)_driver.yaml"/>
<rosparam subst_value="True">{bus: { device: $(arg can_device) } }</rosparam>
<rosparam subst_value="True" if="$(arg use_external_sync)">{sync: { interval_ms: $(arg interval_ms), overflow: $(arg overflow) } }</rosparam>
<param name="bus/master_allocator" value="canopen::ExternalMaster::Allocator" if="$(arg use_external_sync)"/>
</node>

</launch>
1 change: 1 addition & 0 deletions cob_bringup/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
<depend>roslaunch</depend>

<exec_depend>camera1394</exec_depend>
<exec_depend>canopen_chain_node</exec_depend>
<exec_depend>canopen_motor_node</exec_depend>
<exec_depend>cob_android_script_server</exec_depend>
<exec_depend>cob_base_drive_chain</exec_depend>
Expand Down
7 changes: 4 additions & 3 deletions cob_bringup/robots/cob4-10.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,21 +116,22 @@
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="torso"/>
<arg name="can_device" value="can0"/>
<arg name="cartesian_control" value="true"/>
<arg name="sim" value="$(arg sim)"/>
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

could you not just set the value to false?

here and wherever it applies...

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

No, the default be kept in a single place.

</include>
<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="sensorring"/>
<arg name="can_device" value="can1"/>
<arg name="cartesian_control" value="false"/>
<arg name="use_external_sync" value="true"/>
<arg name="start_external_sync" value="true"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="head"/>
<arg name="can_device" value="can1"/>
<arg name="cartesian_control" value="false"/>
<arg name="use_external_sync" value="true"/>
<arg name="start_external_sync" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
Expand Down
9 changes: 4 additions & 5 deletions cob_bringup/robots/cob4-7.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,35 +116,34 @@
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="torso"/>
<arg name="can_device" value="can0"/>
<arg name="cartesian_control" value="true"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="arm_left"/>
<arg name="can_device" value="can3"/>
<arg name="cartesian_control" value="true"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="arm_right"/>
<arg name="can_device" value="can2"/>
<arg name="cartesian_control" value="true"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="sensorring"/>
<arg name="can_device" value="can1"/>
<arg name="cartesian_control" value="false"/>
<arg name="use_external_sync" value="true"/>
<arg name="start_external_sync" value="true"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/canopen_generic.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="component_name" value="head"/>
<arg name="can_device" value="can1"/>
<arg name="cartesian_control" value="true"/>
<arg name="use_external_sync" value="true"/>
<arg name="start_external_sync" value="false"/>
<arg name="sim" value="$(arg sim)"/>
</include>
<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
Expand Down
6 changes: 3 additions & 3 deletions cob_default_robot_config/cob4-7/head_joint_configurations.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
joint_names: ["head_2_joint","head_3_joint"]
joint_names: ["head_1_joint", "head_2_joint", "head_3_joint"]
action_name: /head/joint_trajectory_controller/follow_joint_trajectory
service_ns: /head/driver
default_vel: 0.6
Expand All @@ -17,8 +17,8 @@ back_up_full: [[1.57, -3.14, 4.71]]
back_down: [[-0.5, 1.0, 2.64]]
back_down_full: [[-1.57, 3.14, 1.57]]

left: [[1.57, 0.0, 0.0]]
right: [[-1.57, 0.0, 0.0]]
left: [[0.0, 0.0, 1.57]]
right: [[0.0, 0.0, -1.57]]

nod: [front_down, front]
shake: [left, right, left, home]
18 changes: 5 additions & 13 deletions cob_hardware_config/cob4-1/config/diagnostics_analyzers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -104,27 +104,19 @@ analyzers:
torso:
type: diagnostic_aggregator/GenericAnalyzer
path: Torso
contains: 'torso/driver'
contains: 'torso/'
# head:
# type: diagnostic_aggregator/GenericAnalyzer
# path: Head
# contains: 'head/driver'
# contains: 'head/'
# sensorring:
# type: diagnostic_aggregator/GenericAnalyzer
# path: Sensorring
# contains: 'sensorring/driver'
# contains: 'sensorring/'
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

why keep it commented?

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

cob4-1 doesn't (yet) have a working sensorring hardware

base:
type: diagnostic_aggregator/AnalyzerGroup
type: diagnostic_aggregator/GenericAnalyzer
path: Base
analyzers:
base:
type: diagnostic_aggregator/GenericAnalyzer
path: drives
contains: 'base/driver'
base_twist_mux:
type: diagnostic_aggregator/GenericAnalyzer
path: twist_mux
contains: 'twist_mux'
contains: 'base/'
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

what happened to the twist_mux diagnostics?
doesn't this contains pattern conflict with e.g. base/light?

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

light on base is using light_base namespace, so filtering works as expected


safety:
type: diagnostic_aggregator/GenericAnalyzer
Expand Down
18 changes: 5 additions & 13 deletions cob_hardware_config/cob4-10/config/diagnostics_analyzers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -104,27 +104,19 @@ analyzers:
torso:
type: diagnostic_aggregator/GenericAnalyzer
path: Torso
contains: 'torso/driver'
contains: 'torso/'
head:
type: diagnostic_aggregator/GenericAnalyzer
path: Head
contains: 'head/driver'
contains: 'head/'
sensorring:
type: diagnostic_aggregator/GenericAnalyzer
path: Sensorring
contains: 'sensorring/driver'
contains: 'sensorring/'
base:
type: diagnostic_aggregator/AnalyzerGroup
type: diagnostic_aggregator/GenericAnalyzer
path: Base
analyzers:
base:
type: diagnostic_aggregator/GenericAnalyzer
path: drives
contains: 'base/driver'
base_twist_mux:
type: diagnostic_aggregator/GenericAnalyzer
path: twist_mux
contains: 'twist_mux'
contains: 'base/'

safety:
type: diagnostic_aggregator/GenericAnalyzer
Expand Down
22 changes: 7 additions & 15 deletions cob_hardware_config/cob4-2/config/diagnostics_analyzers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -104,35 +104,27 @@ analyzers:
torso:
type: diagnostic_aggregator/GenericAnalyzer
path: Torso
contains: 'torso/driver'
contains: 'torso/'
arm_right:
type: diagnostic_aggregator/GenericAnalyzer
path: Arm Right
contains: 'arm_right/driver'
contains: 'arm_right/'
arm_left:
type: diagnostic_aggregator/GenericAnalyzer
path: Arm Left
contains: 'arm_left/driver'
contains: 'arm_left/'
# sensorring:
# type: diagnostic_aggregator/GenericAnalyzer
# path: Sensorring
# contains: 'sensorring/driver'
# contains: 'sensorring/'
# head:
# type: diagnostic_aggregator/GenericAnalyzer
# path: Head
# contains: 'head/driver'
# contains: 'head/'
base:
type: diagnostic_aggregator/AnalyzerGroup
type: diagnostic_aggregator/GenericAnalyzer
path: Base
analyzers:
base:
type: diagnostic_aggregator/GenericAnalyzer
path: drives
contains: 'base/driver'
base_twist_mux:
type: diagnostic_aggregator/GenericAnalyzer
path: twist_mux
contains: 'twist_mux'
contains: 'base/'

safety:
type: diagnostic_aggregator/GenericAnalyzer
Expand Down
12 changes: 2 additions & 10 deletions cob_hardware_config/cob4-3/config/diagnostics_analyzers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,17 +24,9 @@ analyzers:
path: Actuators
analyzers:
base:
type: diagnostic_aggregator/AnalyzerGroup
type: diagnostic_aggregator/GenericAnalyzer
path: Base
analyzers:
base:
type: diagnostic_aggregator/GenericAnalyzer
path: drives
startswith: 'base/driver'
base_twist_mux:
type: diagnostic_aggregator/GenericAnalyzer
path: twist_mux
contains: 'twist_mux'
contains: 'base/'

sensors:
type: diagnostic_aggregator/AnalyzerGroup
Expand Down
12 changes: 2 additions & 10 deletions cob_hardware_config/cob4-4/config/diagnostics_analyzers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,17 +24,9 @@ analyzers:
path: Actuators
analyzers:
base:
type: diagnostic_aggregator/AnalyzerGroup
type: diagnostic_aggregator/GenericAnalyzer
path: Base
analyzers:
base:
type: diagnostic_aggregator/GenericAnalyzer
path: drives
startswith: 'base/driver'
base_twist_mux:
type: diagnostic_aggregator/GenericAnalyzer
path: twist_mux
contains: 'twist_mux'
contains: 'base/'

sensors:
type: diagnostic_aggregator/AnalyzerGroup
Expand Down
23 changes: 8 additions & 15 deletions cob_hardware_config/cob4-5/config/diagnostics_analyzers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -81,26 +81,14 @@ analyzers:
type: diagnostic_aggregator/AnalyzerGroup
path: Actuators
analyzers:
base:
type: diagnostic_aggregator/AnalyzerGroup
path: Base
analyzers:
base:
type: diagnostic_aggregator/GenericAnalyzer
path: drives
contains: 'base/driver'
base_twist_mux:
type: diagnostic_aggregator/GenericAnalyzer
path: twist_mux
contains: 'twist_mux'
arm_left:
type: diagnostic_aggregator/GenericAnalyzer
path: Arm Left
contains: 'arm_left/driver'
contains: 'arm_left/'
arm_right:
type: diagnostic_aggregator/GenericAnalyzer
path: Arm Right
contains: 'arm_right/driver'
contains: 'arm_right/'
gripper_left:
type: diagnostic_aggregator/GenericAnalyzer
path: Gripper Left
Expand All @@ -112,7 +100,12 @@ analyzers:
sensorring:
type: diagnostic_aggregator/GenericAnalyzer
path: Sensorring
contains: 'sensorring/driver'
contains: 'sensorring/'
base:
type: diagnostic_aggregator/GenericAnalyzer
path: Base
contains: 'base/'

safety:
type: diagnostic_aggregator/GenericAnalyzer
path: Safety
Expand Down
12 changes: 2 additions & 10 deletions cob_hardware_config/cob4-6/config/diagnostics_analyzers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,17 +24,9 @@ analyzers:
path: Actuators
analyzers:
base:
type: diagnostic_aggregator/AnalyzerGroup
type: diagnostic_aggregator/GenericAnalyzer
path: Base
analyzers:
base:
type: diagnostic_aggregator/GenericAnalyzer
path: drives
startswith: 'base/driver'
base_twist_mux:
type: diagnostic_aggregator/GenericAnalyzer
path: twist_mux
contains: 'twist_mux'
contains: 'base/'

sensors:
type: diagnostic_aggregator/AnalyzerGroup
Expand Down
Loading