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Replace keepalive count #1002

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merged 2 commits into from
May 29, 2024
Merged

Replace keepalive count #1002

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b683f37
Use robot_receive_timeout instead of keepalive_count
fmauch May 22, 2024
2046c7e
Add migration note containing the keepalive_count to robot_receive_ti…
fmauch May 22, 2024
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10 changes: 10 additions & 0 deletions ur_robot_driver/doc/migration/jazzy.rst
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Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
ur_robot_driver
^^^^^^^^^^^^^^^

keep_alive_count -> robot_receive_timeout
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Doing real-time control with a robot requires the control pc to conform to certain timing
constraints. For this ``keep_alive_count`` was used to estimate the tolerance that was given to the
ROS controller in terms of multiples of 20 ms. Now the timeout is directly configured using the
``robot_receive_timeout`` parameter of the hardware interface.
3 changes: 3 additions & 0 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@

// UR stuff
#include "ur_client_library/ur/ur_driver.h"
#include "ur_client_library/ur/robot_receive_timeout.h"
#include "ur_robot_driver/dashboard_client_ros.hpp"
#include "ur_dashboard_msgs/msg/robot_mode.hpp"

Expand Down Expand Up @@ -225,6 +226,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
std::shared_ptr<std::thread> async_thread_;

std::atomic_bool rtde_comm_has_been_started_ = false;

urcl::RobotReceiveTimeout receive_timeout_ = urcl::RobotReceiveTimeout::millisec(20);
};
} // namespace ur_robot_driver

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11 changes: 5 additions & 6 deletions ur_robot_driver/src/hardware_interface.cpp
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Expand Up @@ -414,9 +414,6 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
tool_comm_setup->setTxIdleChars(tx_idle_chars);
}

// Amount of allowed timed out reads before the reverse interface will be dropped
const int keep_alive_count = std::stoi(info_.hardware_parameters["keep_alive_count"]);

// Obtain the tf_prefix which is needed for the logging handler so that log messages from different arms are
// distiguishable in the log
const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
Expand All @@ -429,7 +426,6 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port, script_command_port);
ur_driver_->setKeepaliveCount(keep_alive_count);
} catch (urcl::ToolCommNotAvailable& e) {
RCLCPP_FATAL_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), "See parameter use_tool_communication");

Expand All @@ -438,6 +434,9 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
RCLCPP_FATAL_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), e.what());
return hardware_interface::CallbackReturn::ERROR;
}
// Timeout before the reverse interface will be dropped by the robot
receive_timeout_ = urcl::RobotReceiveTimeout::sec(std::stof(info_.hardware_parameters["robot_receive_timeout"]));

RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Calibration checksum: '%s'.",
calibration_checksum.c_str());
// check calibration
Expand Down Expand Up @@ -627,10 +626,10 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp:
runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
robot_program_running_ && (!non_blocking_read_ || packet_read_)) {
if (position_controller_running_) {
ur_driver_->writeJointCommand(urcl_position_commands_, urcl::comm::ControlMode::MODE_SERVOJ);
ur_driver_->writeJointCommand(urcl_position_commands_, urcl::comm::ControlMode::MODE_SERVOJ, receive_timeout_);

} else if (velocity_controller_running_) {
ur_driver_->writeJointCommand(urcl_velocity_commands_, urcl::comm::ControlMode::MODE_SPEEDJ);
ur_driver_->writeJointCommand(urcl_velocity_commands_, urcl::comm::ControlMode::MODE_SPEEDJ, receive_timeout_);

} else {
ur_driver_->writeKeepalive();
Expand Down
4 changes: 2 additions & 2 deletions ur_robot_driver/urdf/ur.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
script_command_port:=50004
trajectory_port:=50003
non_blocking_read:=true
keep_alive_count:=2
robot_receive_timeout:=0.04
">

<xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
Expand Down Expand Up @@ -69,7 +69,7 @@
<param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
<param name="tool_device_name">${tool_device_name}</param>
<param name="tool_tcp_port">${tool_tcp_port}</param>
<param name="keep_alive_count">${keep_alive_count}</param>
<param name="robot_receive_timeout">${robot_receive_timeout}</param>
</xacro:unless>
</hardware>

Expand Down
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