robot_driver.h

#ifndef ROBOT_DRIVER_H
#define ROBOT_DRIVER_H
 
#include <eigen_conversions/eigen_msg.h>
#include <quad_msgs/GRFArray.h>
#include <quad_msgs/LegCommand.h>
#include <quad_msgs/LegCommandArray.h>
#include <quad_msgs/MotorCommand.h>
#include <quad_msgs/MultiFootPlanContinuous.h>
#include <quad_msgs/RobotPlan.h>
#include <quad_msgs/RobotState.h>
#include <quad_utils/function_timer.h>
#include <quad_utils/math_utils.h>
#include <quad_utils/ros_utils.h>
#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <std_msgs/UInt8.h>
 
#include <cmath>
#include <eigen3/Eigen/Eigen>
 
#include "robot_driver/controllers/grf_pid_controller.h"
#include "robot_driver/controllers/inverse_dynamics_controller.h"
#include "robot_driver/controllers/joint_controller.h"
#include "robot_driver/controllers/leg_controller.h"
#include "robot_driver/estimators/comp_filter_estimator.h"
#include "robot_driver/estimators/ekf_estimator.h"
#include "robot_driver/estimators/state_estimator.h"
#include "robot_driver/hardware_interfaces/hardware_interface.h"
#include "robot_driver/hardware_interfaces/spirit_interface.h"
#include "robot_driver/robot_driver_utils.h"
 
#define MATH_PI 3.141592
 
 
class RobotDriver {
 public:
  RobotDriver(ros::NodeHandle nh, int argc, char** argv);
 
  void spin();
 
 private:
  void initLegController();
 
  void initStateControlStructs();
 
  void initStateEstimator();
 
  void controlModeCallback(const std_msgs::UInt8::ConstPtr& msg);
 
  void localPlanCallback(const quad_msgs::RobotPlan::ConstPtr& msg);
 
  void robotStateCallback(const quad_msgs::RobotState::ConstPtr& msg);
 
  void mocapCallback(const geometry_msgs::PoseStamped::ConstPtr& msg);
 
  void trajectoryStateCallback(const quad_msgs::RobotState::ConstPtr& msg);
 
  void singleJointCommandCallback(const geometry_msgs::Vector3::ConstPtr& msg);
 
  void controlRestartFlagCallback(const std_msgs::Bool::ConstPtr& msg);
 
  void remoteHeartbeatCallback(const std_msgs::Header::ConstPtr& msg);
 
  void checkMessagesForSafety();
 
  bool updateState();
 
  bool updateControl();
 
  void publishState();
 
  void publishControl(bool is_valid);
 
  void publishHeartbeat();
 
  ros::Subscriber control_mode_sub_;
 
  ros::Subscriber body_plan_sub_;
 
  ros::Subscriber local_plan_sub_;
 
  ros::Subscriber mocap_sub_;
 
  ros::Subscriber robot_state_sub_;
 
  ros::Subscriber control_restart_flag_sub_;
 
  ros::Publisher robot_state_pub_;
 
  // ROS publisher for state estimate
  ros::Publisher trajectry_robot_state_pub_;
 
  ros::Subscriber remote_heartbeat_sub_;
 
  ros::Subscriber single_joint_cmd_sub_;
 
  ros::Publisher robot_heartbeat_pub_;
 
  ros::Publisher leg_command_array_pub_;
 
  ros::Publisher grf_pub_;
 
  ros::Publisher imu_pub_;
 
  ros::Publisher joint_state_pub_;
 
  ros::NodeHandle nh_;
 
  bool is_hardware_;
 
  std::string controller_id_;
 
  std::string estimator_id_;
 
  double update_rate_;
 
  double publish_rate_;
 
  const int num_feet_ = 4;
 
  int control_mode_;
 
  std::vector<double> torque_limits_;
 
  const int SIT = 0;
 
  const int READY = 1;
 
  const int SIT_TO_READY = 2;
 
  const int READY_TO_SIT = 3;
 
  const int SAFETY = 4;
 
  const int NONE = 0;
 
  const int LOCAL_PLAN = 1;
 
  const int GRFS = 2;
 
  quad_msgs::RobotPlan::ConstPtr last_local_plan_msg_;
 
  quad_msgs::RobotState last_robot_state_msg_;
 
  quad_msgs::GRFArray::ConstPtr last_grf_array_msg_;
 
  std_msgs::Header::ConstPtr last_remote_heartbeat_msg_;
 
  std_msgs::Header last_robot_heartbeat_msg_;
 
  // State timeout threshold in seconds
  double last_state_time_;
 
  // Remote heartbeat timeout threshold in seconds
  double remote_heartbeat_received_time_;
 
  const double transition_duration_ = 1.0;
 
  double input_timeout_;
 
  double state_timeout_;
 
  double heartbeat_timeout_;
 
  double remote_latency_threshold_warn_;
 
  double remote_latency_threshold_error_;
 
  quad_msgs::LegCommandArray leg_command_array_msg_;
 
  quad_msgs::GRFArray grf_array_msg_;
 
  Eigen::VectorXd user_tx_data_;
 
  Eigen::VectorXd user_rx_data_;
 
  ros::Time transition_timestamp_;
 
  std::vector<double> safety_kp_;
  std::vector<double> safety_kd_;
 
  std::vector<double> sit_kp_;
  std::vector<double> sit_kd_;
 
  std::vector<double> stand_kp_;
  std::vector<double> stand_kd_;
 
  std::vector<double> stance_kp_;
  std::vector<double> stance_kd_;
 
  std::vector<double> swing_kp_;
  std::vector<double> swing_kd_;
 
  std::vector<double> swing_kp_cart_;
  std::vector<double> swing_kd_cart_;
 
  std::vector<double> stand_joint_angles_;
 
  std::vector<double> sit_joint_angles_;
 
  std::shared_ptr<quad_utils::QuadKD> quadKD_;
 
  std::shared_ptr<LegController> leg_controller_;
 
  std::shared_ptr<StateEstimator> state_estimator_;
 
  std::shared_ptr<HardwareInterface> hardware_interface_;
 
  geometry_msgs::PoseStamped::ConstPtr last_mocap_msg_;
 
  sensor_msgs::Imu last_imu_msg_;
 
  sensor_msgs::JointState last_joint_state_msg_;
 
  Eigen::Vector3d vel_estimate_;
 
  Eigen::Vector3d mocap_vel_estimate_;
 
  Eigen::Vector3d imu_vel_estimate_;
 
  double filter_time_constant_;
 
  double filter_weight_;
 
  double mocap_dropout_threshold_;
 
  double mocap_rate_;
 
  double last_mainboard_time_;
 
  ros::Time last_mocap_time_;
 
  ros::Time t_pub_;
 
  int argc_;
 
  char** argv_;
};
 
#endif  // ROBOT_DRIVER_H