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fix(driver): estimate joint velocity so stall detection works #92

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fix(driver): estimate joint velocity so stall detection works #92

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2 changes: 1 addition & 1 deletion extern/grippers
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Submodule grippers updated 7 files
+2 −2 README.md
+27 −0 docs/03-how-it-works.md
+10 −0 sdk_cpp/examples/snippets.cpp
+1 −0 sdk_cpp/include/Robotiq/CMakeLists.txt
+81 −0 sdk_cpp/include/Robotiq/gripper/velocity_estimator.hpp
+1 −0 sdk_cpp/tests/CMakeLists.txt
+137 −0 sdk_cpp/tests/test_velocity_estimator.cpp
2 changes: 1 addition & 1 deletion grippers/robotiq_description/config/robotiq_controllers.humble.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ robotiq_gripper_controller:
max_effort: 50.0 # TODO tune

allow_stalling: true
stall_timeout: 0.05
stall_timeout: 1.0
goal_tolerance: 0.02

robotiq_activation_controller:
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2 changes: 1 addition & 1 deletion grippers/robotiq_description/config/robotiq_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ robotiq_gripper_controller:
# Optional (recommended)
state_interfaces: ["position", "velocity"]
allow_stalling: true
stall_timeout: 0.05
stall_timeout: 1.0
goal_tolerance: 0.02

robotiq_activation_controller:
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5 changes: 5 additions & 0 deletions grippers/robotiq_driver/include/robotiq_driver/hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@

#pragma once

#include <chrono>
#include <future>
#include <limits>
#include <memory>
Expand All @@ -50,6 +51,7 @@
#include <robotiq_driver/ros2_control_compat.hpp>

#include <Robotiq/gripper.hpp>
#include <Robotiq/gripper/velocity_estimator.hpp>

#include <hardware_interface/handle.hpp>
#include <hardware_interface/hardware_info.hpp>
Expand All @@ -62,6 +64,8 @@
namespace robotiq_driver {

inline constexpr const char* kObjectStatusInterface = "object_status";

inline constexpr std::chrono::milliseconds kVelocityTimeConstant{100};
inline constexpr const char* kMotorCurrentInterface = "motor_current";
inline constexpr const char* kGripperFaultInterface = "gripper_fault";
inline constexpr const char* kGripperFaultSeverityInterface = "gripper_fault_severity";
Expand Down Expand Up @@ -188,6 +192,7 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa

double gripper_position_ = 0.0;
double gripper_velocity_ = 0.0;
Robotiq::VelocityEstimator velocity_estimator_{kVelocityTimeConstant};

// gCU in amperes, and gOBJ verbatim. Doubles to match the other
// interfaces: Jazzy can carry a uint8_t, but only through the
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7 changes: 3 additions & 4 deletions grippers/robotiq_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -392,6 +392,7 @@ hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_activate(
// Seed both sides from that settled reading so the first exported state, and
// any hold target derived from it, describe where the fingers actually are.
gripper_position_ = jointPositionFromRegister(status.position, parameters_.closed_position);
velocity_estimator_.reset();
gripper_velocity_ = 0.0;
gripper_motor_current_ = motorCurrentFromRegister(status.current);
gripper_object_status_ = static_cast<double>(status.gripperStatus.objectDetection());
Expand Down Expand Up @@ -437,7 +438,7 @@ hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_deactivat
return CallbackReturn::SUCCESS;
}

hardware_interface::return_type RobotiqGripperHardwareInterface::read(const rclcpp::Time& /*time*/,
hardware_interface::return_type RobotiqGripperHardwareInterface::read(const rclcpp::Time& time,
const rclcpp::Duration& /*period*/)
{
if(!gripper_)
Expand All @@ -447,9 +448,7 @@ hardware_interface::return_type RobotiqGripperHardwareInterface::read(const rclc

const Robotiq::GripperStatus status = gripper_->getStatus();
gripper_position_ = jointPositionFromRegister(status.position, parameters_.closed_position);
// The status block carries no velocity — the gripper reports position and
// motor current only.
gripper_velocity_ = 0.0;
gripper_velocity_ = velocity_estimator_.update(gripper_position_, std::chrono::nanoseconds{time.nanoseconds()});
gripper_motor_current_ = motorCurrentFromRegister(status.current);
gripper_object_status_ = static_cast<double>(status.gripperStatus.objectDetection());
gripper_fault_ = {gripperFaultFromRegister(status.faultStatus),
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