Using Gazebo to simulate an ORCA controller
Note
The source code for this example can be found in [orca_root]/examples/gazebo/05-orca_gazebo.cc
, or alternatively on github at: https://github.com/syroco/orca/blob/dev/examples/gazebo/05-orca_gazebo.cc
Full Code Listing
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 | // This file is a part of the ORCA framework.
// 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 <orca/gazebo/GazeboServer.h>
#include <orca/gazebo/GazeboModel.h>
using namespace orca::all;
using namespace orca::gazebo;
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]);
GazeboServer gz_server(argc,argv);
auto gz_model = GazeboModel(gz_server.insertModelFromURDFFile(urdf_url));
gz_model.setModelConfiguration( { "joint_0", "joint_3","joint_5"} , {1.0,-M_PI/2.,M_PI/2.});
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));
orca::optim::Controller controller(
"controller"
,robot_model
,orca::optim::ResolutionStrategy::OneLevelWeighted
,QPSolverImplType::qpOASES
);
auto cart_acc_pid = std::make_shared<CartesianAccelerationPID>("servo_controller");
cart_acc_pid->pid()->setProportionalGain({1000, 1000, 1000, 10, 10, 10});
cart_acc_pid->pid()->setDerivativeGain({100, 100, 100, 1, 1, 1});
cart_acc_pid->setControlFrame("link_7");
auto cart_task = controller.addTask<CartesianTask>("CartTask_EE");
cart_task->setServoController(cart_acc_pid);
const int ndof = robot_model->getNrOfDegreesOfFreedom();
auto jnt_trq_cstr = controller.addConstraint<JointTorqueLimitConstraint>("JointTorqueLimit");
Eigen::VectorXd jntTrqMax(ndof);
jntTrqMax.setConstant(200.0);
jnt_trq_cstr->setLimits(-jntTrqMax,jntTrqMax);
auto jnt_pos_cstr = controller.addConstraint<JointPositionLimitConstraint>("JointPositionLimit");
auto jnt_vel_cstr = controller.addConstraint<JointVelocityLimitConstraint>("JointVelocityLimit");
jnt_vel_cstr->setLimits(Eigen::VectorXd::Constant(ndof,-2.0),Eigen::VectorXd::Constant(ndof,2.0));
// Lets decide that the robot is gravity compensated
// So we need to remove G(q) from the solution
controller.removeGravityTorquesFromSolution(true);
gz_model.executeAfterWorldUpdate([&](uint32_t n_iter,double current_time,double dt)
{
robot_model->setRobotState(gz_model.getWorldToBaseTransform().matrix()
,gz_model.getJointPositions()
,gz_model.getBaseVelocity()
,gz_model.getJointVelocities()
,gz_model.getGravity()
);
// Compensate the gravity at least
gz_model.setJointGravityTorques(robot_model->getJointGravityTorques());
// All tasks need the robot to be initialized during the activation phase
if(n_iter == 1)
controller.activateTasksAndConstraints();
controller.update(current_time, dt);
if(controller.solutionFound())
{
gz_model.setJointTorqueCommand( controller.getJointTorqueCommand() );
}
else
{
gz_model.setBrakes(true);
}
});
std::cout << "Simulation running... (GUI with \'gzclient\')" << "\n";
// If you want to pause the simulation before starting it uncomment these lines
// Note that to unlock it either open 'gzclient' and click on the play button
// Or open a terminal and type 'gz world -p false'
//
std::cout << "Gazebo is paused, open gzclient to unpause it or type 'gz world -p false' in a new terminal" << '\n';
gazebo::event::Events::pause.Signal(true);
gz_server.run();
return 0;
}
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