An introduction to the ORCA callback system
Note
The source code for this example can be found in [orca_root]/examples/intermediate/02-using_callbacks.cc
, or alternatively on github at: https://github.com/syroco/orca/blob/dev/examples/intermediate/01-using_callbacks.cc
Full Code Listing
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// Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
// Copyright 2018, Fuzzy Logic Robotics
// Main contributor(s): Antoine Hoarau, Ryan Lober, and
// Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
//
// ORCA is a whole-body reactive controller framework for robotics.
//
// This software is governed by the CeCILL-C license under French law and
// abiding by the rules of distribution of free software. You can use,
// modify and/ or redistribute the software under the terms of the CeCILL-C
// license as circulated by CEA, CNRS and INRIA at the following URL
// "http://www.cecill.info".
//
// As a counterpart to the access to the source code and rights to copy,
// modify and redistribute granted by the license, users are provided only
// with a limited warranty and the software's author, the holder of the
// economic rights, and the successive licensors have only limited
// liability.
//
// In this respect, the user's attention is drawn to the risks associated
// with loading, using, modifying and/or developing or reproducing the
// software by the user in light of its specific status of free software,
// that may mean that it is complicated to manipulate, and that also
// therefore means that it is reserved for developers and experienced
// professionals having in-depth computer knowledge. Users are therefore
// encouraged to load and test the software's suitability as regards their
// requirements in conditions enabling the security of their systems and/or
// data to be ensured and, more generally, to use and operate it in the
// same conditions as regards security.
//
// The fact that you are presently reading this means that you have had
// knowledge of the CeCILL-C license and that you accept its terms.
/** @file
@copyright 2018 Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
@author Antoine Hoarau
@author Ryan Lober
*/
#include <orca/orca.h>
#include <chrono>
using namespace orca::all;
class TaskMonitor {
private:
bool is_activated_ = false;
bool is_deactivated_ = false;
public:
TaskMonitor ()
{
std::cout << "TaskMonitor class constructed." << '\n';
}
bool isActivated(){return is_activated_;}
bool isDeactivated(){return is_deactivated_;}
void onActivation()
{
std::cout << "[TaskMonitor] Called 'onActivation' callback." << '\n';
}
void onActivated()
{
std::cout << "[TaskMonitor] Called 'onActivated' callback." << '\n';
is_activated_ = true;
}
void onUpdateEnd(double current_time, double dt)
{
std::cout << "[TaskMonitor] Called 'onUpdateBegin' callback." << '\n';
std::cout << " >> current time: " << current_time << '\n';
std::cout << " >> dt: " << dt << '\n';
}
void onUpdateBegin(double current_time, double dt)
{
std::cout << "[TaskMonitor] Called 'onUpdateEnd' callback." << '\n';
std::cout << " >> current time: " << current_time << '\n';
std::cout << " >> dt: " << dt << '\n';
}
void onDeactivation()
{
std::cout << "[TaskMonitor] Called 'onDeactivation' callback." << '\n';
}
void onDeactivated()
{
std::cout << "[TaskMonitor] Called 'onDeactivated' callback." << '\n';
is_deactivated_ = true;
}
};
int main(int argc, char const *argv[])
{
if(argc < 2)
{
std::cerr << "Usage : " << argv[0] << " /path/to/robot-urdf.urdf (optionally -l debug/info/warning/error)" << "\n";
return -1;
}
std::string urdf_url(argv[1]);
orca::utils::Logger::parseArgv(argc, argv);
auto robot_model = std::make_shared<RobotModel>();
robot_model->loadModelFromFile(urdf_url);
robot_model->setBaseFrame("base_link");
robot_model->setGravity(Eigen::Vector3d(0,0,-9.81));
RobotState eigState;
eigState.resize(robot_model->getNrOfDegreesOfFreedom());
eigState.jointPos.setZero();
eigState.jointVel.setZero();
robot_model->setRobotState(eigState.jointPos,eigState.jointVel);
orca::optim::Controller controller(
"controller"
,robot_model
,orca::optim::ResolutionStrategy::OneLevelWeighted
,QPSolverImplType::qpOASES
);
auto cart_acc_pid = std::make_shared<CartesianAccelerationPID>("servo_controller");
Vector6d P;
P << 1000, 1000, 1000, 10, 10, 10;
cart_acc_pid->pid()->setProportionalGain(P);
Vector6d D;
D << 100, 100, 100, 1, 1, 1;
cart_acc_pid->pid()->setDerivativeGain(D);
cart_acc_pid->setControlFrame("link_7");
Eigen::Affine3d cart_pos_ref;
cart_pos_ref.translation() = Eigen::Vector3d(0.3,-0.5,0.41); // x,y,z in meters
cart_pos_ref.linear() = orca::math::quatFromRPY(M_PI,0,0).toRotationMatrix();
Vector6d cart_vel_ref = Vector6d::Zero();
Vector6d cart_acc_ref = Vector6d::Zero();
cart_acc_pid->setDesired(cart_pos_ref.matrix(),cart_vel_ref,cart_acc_ref);
auto cart_task = controller.addTask<CartesianTask>("CartTask_EE");
cart_task->setServoController(cart_acc_pid);
const int ndof = robot_model->getNrOfDegreesOfFreedom();
auto jnt_trq_cstr = std::make_shared<JointTorqueLimitConstraint>("JointTorqueLimit");
controller.addConstraint(jnt_trq_cstr);
Eigen::VectorXd jntTrqMax(ndof);
jntTrqMax.setConstant(200.0);
jnt_trq_cstr->setLimits(-jntTrqMax,jntTrqMax);
auto jnt_pos_cstr = std::make_shared<JointPositionLimitConstraint>("JointPositionLimit");
controller.addConstraint(jnt_pos_cstr);
auto jnt_vel_cstr = std::make_shared<JointVelocityLimitConstraint>("JointVelocityLimit");
controller.addConstraint(jnt_vel_cstr);
Eigen::VectorXd jntVelMax(ndof);
jntVelMax.setConstant(2.0);
jnt_vel_cstr->setLimits(-jntVelMax,jntVelMax);
double dt = 0.1;
double current_time = 0.0;
int delay_ms = 500;
// The good stuff...
auto task_monitor = std::make_shared<TaskMonitor>();
cart_task->onActivationCallback(std::bind(&TaskMonitor::onActivation, task_monitor));
cart_task->onActivatedCallback(std::bind(&TaskMonitor::onActivated, task_monitor));
cart_task->onComputeBeginCallback(std::bind(&TaskMonitor::onUpdateBegin, task_monitor, std::placeholders::_1, std::placeholders::_2));
cart_task->onComputeEndCallback(std::bind(&TaskMonitor::onUpdateEnd, task_monitor, std::placeholders::_1, std::placeholders::_2));
cart_task->onDeactivationCallback(std::bind(&TaskMonitor::onDeactivation, task_monitor));
cart_task->onDeactivatedCallback(std::bind(&TaskMonitor::onDeactivated, task_monitor));
std::cout << "[main] Activating tasks and constraints." << '\n';
controller.activateTasksAndConstraints();
std::this_thread::sleep_for(std::chrono::milliseconds(delay_ms));
std::cout << "[main] Starting 'RUN' while loop." << '\n';
while(!task_monitor->isActivated()) // Run 10 times.
{
std::cout << "[main] 'RUN' while loop. Current time: " << current_time << '\n';
controller.update(current_time, dt);
current_time +=dt;
std::this_thread::sleep_for(std::chrono::milliseconds(delay_ms));
}
std::cout << "[main] Exiting 'RUN' while loop." << '\n';
std::cout << "-----------------\n";
std::cout << "[main] Deactivating tasks and constraints." << '\n';
controller.deactivateTasksAndConstraints();
std::this_thread::sleep_for(std::chrono::milliseconds(delay_ms));
std::cout << "[main] Starting 'DEACTIVATION' while loop." << '\n';
while(!task_monitor->isDeactivated())
{
std::cout << "[main] 'DEACTIVATION' while loop. Current time: " << current_time << '\n';
controller.update(current_time, dt);
current_time += dt;
std::this_thread::sleep_for(std::chrono::milliseconds(delay_ms));
}
std::cout << "[main] Exiting 'DEACTIVATION' while loop." << '\n';
std::cout << "[main] Exiting main()." << '\n';
return 0;
}
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