Ylo3-real-robot-controller-on-quad-sdk-noetic-ekf-hardware

body_force_estimator/CMakeLists.txt

@@ -0,0 +1,213 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(body_force_estimator)
+
+## Compile as C++14, supported in ROS Melodic and newer
+add_compile_options(-std=c++14)
+
+## Set default cmake build type to release
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+## 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
+  roscpp
+  std_msgs
+  quad_msgs
+  quad_utils
+)
+
+## 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
+# )
+
+################################################
+## 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
+#  LIBRARIES body_force_estimator
+  CATKIN_DEPENDS roscpp std_msgs quad_msgs quad_utils
+#  DEPENDS system_lib
+)
+
+###########
+## 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}
+  src/body_force_estimator.cpp
+  src/body_force_estimator_dynamics.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} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/body_force_estimator_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(body_force_estimator_node
+  body_force_estimator
+  ${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/leg_flail.py
+  scripts/path_following.py
+  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_body_force_estimator.cpp)
+target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME} ${catkin_LIBRARIES})
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

body_force_estimator/body_force_estimator.yaml

@@ -0,0 +1,4 @@
+body_force_estimator:
+  update_rate: 250
+  K_O: 25 # 50
+  cancel_friction: 1

body_force_estimator/include/body_force_estimator/body_force_estimator.h

@@ -0,0 +1,96 @@
+#ifndef BODY_FORCE_ESTIMATOR_H
+#define BODY_FORCE_ESTIMATOR_H
+
+#include <quad_msgs/BodyForceEstimate.h>
+#include <quad_msgs/GRFArray.h>
+#include <quad_msgs/RobotPlan.h>
+#include <quad_msgs/RobotState.h>
+#include <quad_utils/math_utils.h>
+#include <quad_utils/ros_utils.h>
+#include <ros/ros.h>
+
+//! Estimates body contact forces
+/*!
+   BodyForceEstimator is a container for all logic used in estimating force from
+   contacts distrbuted across all links of the robot. It requires robot state
+   estimates and motor commands and exposes an update method.
+*/
+class BodyForceEstimator {
+ public:
+  /**
+   * @brief Constructor for BodyForceEstimator Class
+   * @param[in] nh ROS NodeHandle to publish and subscribe from
+   * @return Constructed object of type BodyForceEstimator
+   */
+  BodyForceEstimator(ros::NodeHandle nh);
+
+  /**
+   * @brief Calls ros spinOnce and pubs data at set frequency
+   */
+  void spin();
+
+  /**
+   * @brief Callback function to handle new state estimates
+   * @param[in] Robot state message contining position and velocity for each
+   * joint and robot body
+   */
+  void robotStateCallback(const quad_msgs::RobotState::ConstPtr& msg);
+
+  /**
+   * @brief Callback function to handle new local plan (states and GRFs)
+   * @param[in] msg input message contining the local plan
+   */
+  void localPlanCallback(const quad_msgs::RobotPlan::ConstPtr& msg);
+
+  /**
+   * @brief Compute the momentum observer external force estimation update.
+   */
+  void update();
+
+  /**
+   * @brief Publish body force force estimates
+   */
+  void publishBodyForce();
+
+  /// ROS subscriber for the robot state
+  ros::Subscriber robot_state_sub_;
+
+  /// ROS subscriber for local plan
+  ros::Subscriber local_plan_sub_;
+
+  /// ROS publisher for body force force estimates
+  ros::Publisher body_force_pub_;
+
+  /// ROS publisher for toe force estimates
+  ros::Publisher toe_force_pub_;
+
+  /// Nodehandle to pub to and sub from
+  ros::NodeHandle nh_;
+
+  /// Update rate for sending and receiving data;
+  double update_rate_;
+
+  /// Momentum observer gain
+  double K_O_;
+
+  /// Momentum observer cancel friction or not
+  int cancel_friction_;
+
+ private:
+  /// External torque estimate
+  double r_mom[12];
+
+  /// Momentum estimate
+  double p_hat[12];
+
+  /// Most recent local plan
+  quad_msgs::RobotPlan::ConstPtr last_local_plan_msg_;
+
+  /// Previous foot state
+  quad_msgs::MultiFootState past_feet_state_;
+
+  // Robot state estimate
+  quad_msgs::RobotState::ConstPtr last_state_msg_;
+};
+
+#endif  // BODY_FORCE_ESTIMATOR_H

body_force_estimator/include/body_force_estimator/body_force_estimator_dynamics.h

@@ -0,0 +1,19 @@
+#ifndef FORCE_ESTIMATOR_DYNAMICS_H
+#define FORCE_ESTIMATOR_DYNAMICS_H
+
+#include <math.h>
+#include <ros/ros.h>
+
+#include <eigen3/Eigen/Dense>
+
+namespace force_estimation_dynamics {
+void f_M(Eigen::Vector3d q, int RL, Eigen::Matrix3d &F);
+void f_beta(Eigen::Vector3d q, Eigen::Vector3d qd, int RL, Eigen::Vector3d &F);
+void f_J_MO(Eigen::Vector3d q, int RL, Eigen::Matrix3d &F);
+
+extern double MO_fric[3];
+extern double MO_damp[3];
+extern double MO_ktau[3];
+}  // namespace force_estimation_dynamics
+
+#endif  // FORCE_ESTIMATOR_DYNAMICS_H