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Fix running force_mode controller alongside passthrough trajectory co… #1210

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merged 1 commit into from
Dec 18, 2024
+55 −21
Merged

Fix running force_mode controller alongside passthrough trajectory co… #1210

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14 changes: 7 additions & 7 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -749,14 +749,14 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp:
check_passthrough_trajectory_controller();
} else {
ur_driver_->writeKeepalive();
}

if (!std::isnan(force_mode_task_frame_[0]) && !std::isnan(force_mode_selection_vector_[0]) &&
!std::isnan(force_mode_wrench_[0]) && !std::isnan(force_mode_type_) && !std::isnan(force_mode_limits_[0]) &&
!std::isnan(force_mode_damping_) && !std::isnan(force_mode_gain_scaling_) && ur_driver_ != nullptr) {
start_force_mode();
} else if (!std::isnan(force_mode_disable_cmd_) && ur_driver_ != nullptr && force_mode_async_success_ == 2.0) {
stop_force_mode();
}
if (!std::isnan(force_mode_task_frame_[0]) && !std::isnan(force_mode_selection_vector_[0]) &&
!std::isnan(force_mode_wrench_[0]) && !std::isnan(force_mode_type_) && !std::isnan(force_mode_limits_[0]) &&
!std::isnan(force_mode_damping_) && !std::isnan(force_mode_gain_scaling_) && ur_driver_ != nullptr) {
start_force_mode();
} else if (!std::isnan(force_mode_disable_cmd_) && ur_driver_ != nullptr && force_mode_async_success_ == 2.0) {
stop_force_mode();
}

packet_read_ = false;
Expand Down
62 changes: 48 additions & 14 deletions ur_robot_driver/test/integration_test_force_mode.py
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Original file line number Diff line number Diff line change
Expand Up @@ -116,19 +116,9 @@ def lookup_tcp_in_base(self, tf_prefix, timepoint):
pass
return trans

def test_force_mode_controller(self, tf_prefix):
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
activate_controllers=[
"force_mode_controller",
],
deactivate_controllers=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
],
).ok
)
# Implementation of force mode test to be reused
# todo: If we move to pytest this could be done using parametrization
def run_force_mode(self, tf_prefix):
self._force_mode_controller_interface = ForceModeInterface(self.node)

# Create task frame for force mode
Expand Down Expand Up @@ -237,6 +227,49 @@ def test_force_mode_controller(self, tf_prefix):
).ok
)

def test_force_mode_controller(self, tf_prefix):
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
activate_controllers=[
"force_mode_controller",
],
deactivate_controllers=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
],
).ok
)
self.run_force_mode(tf_prefix)

def test_force_mode_controller_with_passthrough_controller(self, tf_prefix):
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
activate_controllers=[
"passthrough_trajectory_controller",
],
deactivate_controllers=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
],
).ok
)
time.sleep(1)
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
activate_controllers=[
"force_mode_controller",
],
deactivate_controllers=[
"scaled_joint_trajectory_controller",
"joint_trajectory_controller",
],
).ok
)
self.run_force_mode(tf_prefix)

def test_illegal_force_mode_types(self, tf_prefix):
self.assertTrue(
self._controller_manager_interface.switch_controller(
Expand Down Expand Up @@ -443,7 +476,8 @@ def test_deactivating_controller_stops_force_mode(self, tf_prefix):
trans_after_wait = self.lookup_tcp_in_base(tf_prefix, self.node.get_clock().now())

self.assertAlmostEqual(
trans_before_wait.transform.translation.z, trans_after_wait.transform.translation.z
trans_before_wait.transform.translation.z,
trans_after_wait.transform.translation.z,
)

def test_params_out_of_range_fails(self, tf_prefix):
Expand Down
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