From 5bd6161af930840a66368c079c278cc02e89b905 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Fri, 17 Dec 2021 11:23:31 +0100 Subject: [PATCH] add error recovery method --- CMakeLists.txt | 192 ++++++++++++++++++++++++++++++++++++++++++++ include/PandaUtil.h | 22 +++++ package.xml | 62 ++++++++++++++ src/PandaUtil.cpp | 26 ++++++ 4 files changed, 302 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 include/PandaUtil.h create mode 100644 package.xml create mode 100644 src/PandaUtil.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..2ce7e5a --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,192 @@ +cmake_minimum_required(VERSION 3.0.2) +project(panda_util) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + franka_control + franka_msgs + ) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS + include + ${catkin_INCLUDE_DIRS} + LIBRARIES + ${PROJECT_NAME}_panda_util + CATKIN_DEPENDS + franka_control + franka_msgs +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +add_library(${PROJECT_NAME}_panda_util src/PandaUtil.cpp) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +add_dependencies(${PROJECT_NAME}_panda_util ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(${PROJECT_NAME}_panda_util + ${catkin_LIBRARIES} + ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_panda_util.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/include/PandaUtil.h b/include/PandaUtil.h new file mode 100644 index 0000000..5317889 --- /dev/null +++ b/include/PandaUtil.h @@ -0,0 +1,22 @@ +// +// Created by Johannes Mey on 12/10/21. +// + +#ifndef DEMOPAPER_REAL_SRC_CCF_INCLUDE_CCF_UTIL_PANDAUTIL_H_ +#define DEMOPAPER_REAL_SRC_CCF_INCLUDE_CCF_UTIL_PANDAUTIL_H_ + + +class PandaUtil { + + public: + + /** + * Recover the panda robot from any error states + * The behavior is describe in https://frankaemika.github.io/docs/franka_ros.html#franka-control + * @return true if the recovery succeeded + */ + static bool recoverFromErrors(); + +}; + +#endif //DEMOPAPER_REAL_SRC_CCF_INCLUDE_CCF_UTIL_PANDAUTIL_H_ diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..5a8ff8f --- /dev/null +++ b/package.xml @@ -0,0 +1,62 @@ +<?xml version="1.0"?> +<package format="2"> + <name>panda_util</name> + <version>0.1.0</version> + <description>Utility methods for the Franka Emika Panda robot</description> + + <!-- One maintainer tag required, multiple allowed, one person per tag --> + <!-- Example: --> + <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> + <maintainer email="johannes.mey@tu-dresden.de">Johannes Mey</maintainer> + + + <!-- One license tag required, multiple allowed, one license per tag --> + <!-- Commonly used license strings: --> + <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> + <license>BSD</license> + + + <!-- Url tags are optional, but multiple are allowed, one per tag --> + <!-- Optional attribute type can be: website, bugtracker, or repository --> + <!-- Example: --> + <!-- <url type="website">http://wiki.ros.org/panda_util</url> --> + + + <!-- Author tags are optional, multiple are allowed, one per tag --> + <!-- Authors do not have to be maintainers, but could be --> + <!-- Example: --> + <!-- <author email="jane.doe@example.com">Jane Doe</author> --> + <author email="johannes.mey@tu-dresden.de">Johannes Mey</author> + + + <!-- The *depend tags are used to specify dependencies --> + <!-- Dependencies can be catkin packages or system dependencies --> + <!-- Examples: --> + <!-- Use depend as a shortcut for packages that are both build and exec dependencies --> + <!-- <depend>roscpp</depend> --> + <!-- Note that this is equivalent to the following: --> + <!-- <build_depend>roscpp</build_depend> --> + <!-- <exec_depend>roscpp</exec_depend> --> + <!-- Use build_depend for packages you need at compile time: --> + <!-- <build_depend>message_generation</build_depend> --> + <!-- Use build_export_depend for packages you need in order to build against this package: --> + <!-- <build_export_depend>message_generation</build_export_depend> --> + <!-- Use buildtool_depend for build tool packages: --> + <!-- <buildtool_depend>catkin</buildtool_depend> --> + <!-- Use exec_depend for packages you need at runtime: --> + <!-- <exec_depend>message_runtime</exec_depend> --> + <!-- Use test_depend for packages you need only for testing: --> + <!-- <test_depend>gtest</test_depend> --> + <!-- Use doc_depend for packages you need only for building documentation: --> + <!-- <doc_depend>doxygen</doc_depend> --> + <buildtool_depend>catkin</buildtool_depend> + <depend>franka_control</depend> + <depend>franka_msgs</depend> + + + <!-- The export tag contains other, unspecified, tags --> + <export> + <!-- Other tools can request additional information be placed here --> + + </export> +</package> diff --git a/src/PandaUtil.cpp b/src/PandaUtil.cpp new file mode 100644 index 0000000..b69ca2f --- /dev/null +++ b/src/PandaUtil.cpp @@ -0,0 +1,26 @@ +// +// Created by Johannes Mey on 12/10/21. +// + +#include "../include/PandaUtil.h" + +#include "franka_msgs/ErrorRecoveryAction.h" +#include <actionlib/client/simple_action_client.h> + +bool PandaUtil::recoverFromErrors() { + actionlib::SimpleActionClient<franka_msgs::ErrorRecoveryAction> ac("/franka_control/error_recovery", true); + if (!ac.waitForServer(ros::Duration(10.0))) { + ROS_ERROR("Panda error recovery failed (action server not available)."); + return false; + } + franka_msgs::ErrorRecoveryGoal goal; + ac.sendGoal(goal); + if (ac.waitForResult(ros::Duration(20.0))) { + actionlib::SimpleClientGoalState state = ac.getState(); + ROS_INFO_STREAM("Panda error recovery finished: " << state.toString()); + return state == actionlib::SimpleClientGoalState::SUCCEEDED; + } else { + ROS_ERROR("Panda error recovery failed (with timeout)."); + return false; + } +} -- GitLab