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zj
2025-10-30 17:32:20 +08:00
parent 1b37132764
commit 95a6d6de9d
13 changed files with 1334 additions and 418 deletions
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cmake_minimum_required(VERSION 3.8)
project(create_robot_describer)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
add_compile_options(-g)
#set(CMAKE_BUILD_TYPE Release)
set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
set(CGAL_DATA_DIR ".")
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(gjk_interface REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(CGAL REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
include_directories(
include
${CMAKE_CURRENT_SOURCE_DIR}/../include
${EIGEN3_INCLUDE_DIRS} # 引入Eigen3的头文件路径
)
# 设置源文件
set(SOURCES
src/create_robot_describe.cpp
)
# 添加可执行文件
add_executable(create_robot_describer ${SOURCES})
ament_target_dependencies(create_robot_describer
gjk_interface
moveit_ros_planning_interface
)
target_link_libraries(create_robot_describer CGAL::CGAL)
install(TARGETS
create_robot_describer
DESTINATION lib/${PROJECT_NAME})
ament_package()

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create_robot_describer/include/create_robot_describe.hpp Normal file
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#ifndef CREATE_ROBOT_DESCRIBE_HPP
#define CREATE_ROBOT_DESCRIBE_HPP
#include <string>
#include <vector>
#include <memory>
#include <map>
#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
#include "gjk_interface.hpp"
struct JointsModel {
std::string name; // 关节名称
int type; // 关节类型
int parent_link; // 父连杆
int child_link; // 子连杆
Eigen::Vector3d axis; // 关节轴
Eigen::Vector3d nextLinkOffset; // 下一个连杆关于关节原点偏移
Eigen::Quaterniond rotation; // 关节旋转
double limit_lower;
double limit_upper;
double limit_v;
double limit_e;
};
struct CollisionModel {
std::string link_name; // 所属链接名称
std::string geometry_type; // 几何类型
std::string mesh_filename; // mesh文件路径（如STL）
std::vector<OBB> obbModelList; // 网格边界盒 [min_x, max_x, min_y, max_y, min_z, max_z]
std::vector<JointsModel> joint_list;
std::vector<int> obbLinkIndexList; // 网格边界盒所属链接索引
int joint_count;
int link_index;
int parent_link_index;
Eigen::Quaterniond rotation; // 链接旋转
Eigen::Vector3d offset; // 链接偏移
};
class RobotDescription
{
public:
RobotDescription(const std::string &urdf, const std::string &srdf);
~RobotDescription();
// 其他成员函数和变量
private:
int InitJointModel();
int InitJoint(const urdf::Model &urdf_model);
int GetMeshLinkdimensions(const std::string& filename, CollisionModel& col_struct);
int InitCollisionStructureList(const urdf::Model &urdf_model);
void UpdatePolyhedrons();
int InitLinkCollisionDetectMatrix(const std::string& srdf_str);
std::vector<CollisionModel> collision_structures_;
std::vector<JointsModel> jointMap_;
std::map<std::string, int> linkCollisionMap_;
int rootLinkIndex_;
int maxObbCnt;
bool *g_linkCollisionDetectMatrix;
};
#endif // CREATE_ROBOT_DESCRIBE_HPP

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>create_robot_describer</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="zhengjie@hivecore.cn">zj</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>gjk_interface</depend>
<exec_depend>moveit_ros_planning_interface</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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create_robot_describer/src/create_robot_describe.cpp Normal file
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#include <fstream>
#include <string>
#include <stdexcept> // 用于抛出异常
#include <filesystem>
#include <iostream>
#include <moveit/robot_model/robot_model.h>
#include <CGAL/optimal_bounding_box.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <create_robot_describe.hpp>
#define UNUSED(x) (void)(x)
typedef CGAL::Exact_predicates_inexact_constructions_kernel CgalK;
typedef CgalK::Point_3 CgalPoint;
namespace fs = std::filesystem;
using namespace Eigen;
int RobotDescription::InitJointModel()
{
int linkIndex = rootLinkIndex_;
CollisionModel *colStruct = &collision_structures_[linkIndex];
std::vector<JointsModel *> jointList;
int index = 0;
int maxJointCount = 0;
Quaterniond rotationAll = Quaterniond::Identity();
while (colStruct->joint_count > 0 || index < maxJointCount) {
for (int i = 0; i < colStruct->joint_count; i++) {
jointList.push_back(&colStruct->joint_list[i]);
maxJointCount++;
printf("链接 %s 包含关节 %s, 原offset: (%.4f, %.4f, %.4f)\n", colStruct->link_name.c_str(), colStruct->joint_list[i].name.c_str(),
colStruct->joint_list[i].nextLinkOffset.x(),
colStruct->joint_list[i].nextLinkOffset.y(),
colStruct->joint_list[i].nextLinkOffset.z());
colStruct->joint_list[i].rotation = rotationAll * colStruct->joint_list[i].rotation;
colStruct->joint_list[i].axis = colStruct->joint_list[i].rotation * colStruct->joint_list[i].axis;
colStruct->joint_list[i].nextLinkOffset = rotationAll * colStruct->joint_list[i].nextLinkOffset;
printf("更新后关节 %s 旋转四元数: (%.4f, %.4f, %.4f, %.4f), 轴向: (%.4f, %.4f, %.4f), 偏移: (%.4f, %.4f, %.4f)\n",
colStruct->joint_list[i].name.c_str(),
colStruct->joint_list[i].rotation.w(),
colStruct->joint_list[i].rotation.x(),
colStruct->joint_list[i].rotation.y(),
colStruct->joint_list[i].rotation.z(),
colStruct->joint_list[i].axis.x(),
colStruct->joint_list[i].axis.y(),
colStruct->joint_list[i].axis.z(),
colStruct->joint_list[i].nextLinkOffset.x(),
colStruct->joint_list[i].nextLinkOffset.y(),
colStruct->joint_list[i].nextLinkOffset.z());
}
JointsModel *jointInfo = jointList[index];
rotationAll = jointInfo->rotation;
index++;
linkIndex = jointInfo->child_link;
colStruct = &collision_structures_[linkIndex];
for (size_t i = 0; i < colStruct->obbModelList.size(); i++) {
colStruct->obbModelList[i] = gjk_interface::updateOBBFromPoints(colStruct->obbModelList[i],
Vector3d::Zero(),
rotationAll);
}
}
return 0;
}
int RobotDescription::InitJoint(const urdf::Model &urdf_model)
{
for (const auto& joint_pair : urdf_model.joints_) {
urdf::JointConstSharedPtr joint = joint_pair.second;
JointsModel joint_info;
joint_info.name = joint->name;
joint_info.type = joint->type;
joint_info.parent_link = -1;
joint_info.child_link = -1;
if (joint->parent_link_name != "") {
if (linkCollisionMap_.find(joint->parent_link_name) != linkCollisionMap_.end()) {
joint_info.parent_link = linkCollisionMap_[joint->parent_link_name];
} else {
printf("Joint %s 的父链接 %s 未找到！", joint->name.c_str(), joint->parent_link_name.c_str());
return -1;
}
}
if (joint->child_link_name != "") {
if (linkCollisionMap_.find(joint->child_link_name) != linkCollisionMap_.end()) {
joint_info.child_link = linkCollisionMap_[joint->child_link_name];
} else {
printf("Joint %s 的子链接 %s 未找到！", joint->name.c_str(), joint->child_link_name.c_str());
return -1;
}
}
joint_info.nextLinkOffset = Vector3d(joint->parent_to_joint_origin_transform.position.x,
joint->parent_to_joint_origin_transform.position.y,
joint->parent_to_joint_origin_transform.position.z);
joint_info.rotation = Quaterniond(
joint->parent_to_joint_origin_transform.rotation.w,
joint->parent_to_joint_origin_transform.rotation.x,
joint->parent_to_joint_origin_transform.rotation.y,
joint->parent_to_joint_origin_transform.rotation.z);
if (joint->type != urdf::Joint::FIXED) {
joint_info.axis = Vector3d(joint->axis.x, joint->axis.y, joint->axis.z);
if (joint->limits != NULL) {
joint_info.limit_lower = joint->limits->lower;
joint_info.limit_upper = joint->limits->upper;
joint_info.limit_v = joint->limits->velocity;
joint_info.limit_e = joint->limits->effort;
}
} else {
joint_info.axis = Vector3d::Zero();
joint_info.limit_lower = 0.0;
joint_info.limit_upper = 0.0;
joint_info.limit_v = 0.0;
joint_info.limit_e = 0.0;
}
jointMap_.push_back(joint_info);
CollisionModel *parentColStruct = &collision_structures_[joint_info.parent_link];
parentColStruct->joint_list.push_back(joint_info);
parentColStruct->joint_count++;
CollisionModel *childColStruct = &collision_structures_[joint_info.child_link];
childColStruct->parent_link_index = joint_info.parent_link;
}
InitJointModel();
return 0;
}
int RobotDescription::GetMeshLinkdimensions(const std::string& filename, CollisionModel& col_struct)
{
/*shapes::Mesh* mesh = shapes::createMeshFromResource(filename);
if (!mesh) {
printf("无法加载网格文件: %s\n", filename.c_str());
return false;
}
std::vector<Eigen::Vector3d> eigen_points;
std::vector<CgalPoint> points;
for (unsigned int i = 0; i < mesh->vertex_count; ++i) {
points.emplace_back(mesh->vertices[3*i], mesh->vertices[3*i + 1], mesh->vertices[3*i + 2]);
}
std::array<CgalPoint, 8> obb_points;
CGAL::oriented_bounding_box(points, obb_points, CGAL::parameters::use_convex_hull(true));
printf("计算%s得到的 OBB 顶点:\n", col_struct.link_name.c_str());
for (const auto& pt : obb_points) {
eigen_points.push_back(Eigen::Vector3d(pt.x(), pt.y(), pt.z()));
printf("(%.4f, %.4f, %.4f)\n", pt.x(), pt.y(), pt.z());
}*/
UNUSED(filename);
static std::map<std::string, std::array<Vector3d, 8>> pointMap = {
{"LeftLink1",
{Vector3d(0.0411, 0.0456, -0.1191), Vector3d(-0.0409, 0.0458, -0.1191), Vector3d(-0.0411, -0.0444, -0.1013), Vector3d(0.0409, -0.0446, -0.1013), Vector3d(0.0410, -0.0137, 0.0545), Vector3d(0.0412, 0.0765, 0.0366), Vector3d(-0.0408, 0.0767, 0.0366), Vector3d(-0.0410, -0.0135, 0.0545)}},
{"LeftLink2",
{Vector3d(0.2879, 0.0332, -0.0733), Vector3d(-0.0475, 0.0417, -0.0150), Vector3d(-0.0496, -0.0393, -0.0149), Vector3d(0.2858, -0.0478, -0.0732), Vector3d(0.3004, -0.0481, 0.0110), Vector3d(0.3025, 0.0329, 0.0109), Vector3d(-0.0329, 0.0414, 0.0691), Vector3d(-0.0349, -0.0396, 0.0692)}},
{"LeftLink3",
{Vector3d(0.0464, 0.0342, 0.0241), Vector3d(-0.0012, 0.0428, -0.0180), Vector3d(-0.0025, -0.1243, -0.0505), Vector3d(0.0451, -0.1329, -0.0084), Vector3d(0.0019, -0.1416, 0.0386), Vector3d(0.0032, 0.0254, 0.0710), Vector3d(-0.0443, 0.0340, 0.0289), Vector3d(-0.0456, -0.1331, -0.0036)}},
{"LeftLink4",
{Vector3d(0.0286, 0.0314, -0.0811), Vector3d(-0.0294, 0.0307, -0.0811), Vector3d(-0.0285, -0.0395, -0.0933), Vector3d(0.0295, -0.0388, -0.0933), Vector3d(0.0298, -0.0592, 0.0251), Vector3d(0.0289, 0.0110, 0.0372), Vector3d(-0.0291, 0.0103, 0.0372), Vector3d(-0.0282, -0.0600, 0.0251)}},
{"LeftLink5",
{Vector3d(0.0290, 0.0328, -0.0184), Vector3d(-0.0282, 0.0330, -0.0190), Vector3d(-0.0284, -0.1144, -0.0341), Vector3d(0.0288, -0.1145, -0.0335), Vector3d(0.0282, -0.1208, 0.0281), Vector3d(0.0284, 0.0265, 0.0432), Vector3d(-0.0288, 0.0266, 0.0427), Vector3d(-0.0290, -0.1207, 0.0275)}},
{"LeftLink6",
{Vector3d(0.0492, 0.0104, -0.0290), Vector3d(-0.0023, 0.0469, -0.0290), Vector3d(-0.0404, -0.0069, -0.0290), Vector3d(0.0111, -0.0434, -0.0290), Vector3d(0.0111, -0.0434, 0.0000), Vector3d(0.0492, 0.0104, 0.0000), Vector3d(-0.0023, 0.0469, 0.0000), Vector3d(-0.0404, -0.0069, 0.0000)}},
{"RightLink1",
{Vector3d(0.0411, 0.0456, -0.1191), Vector3d(-0.0409, 0.0458, -0.1191), Vector3d(-0.0411, -0.0444, -0.1013), Vector3d(0.0409, -0.0446, -0.1013), Vector3d(0.0410, -0.0137, 0.0545), Vector3d(0.0412, 0.0765, 0.0366), Vector3d(-0.0408, 0.0767, 0.0366), Vector3d(-0.0410, -0.0135, 0.0545)}},
{"RightLink2",
{Vector3d(0.3025, 0.0329, 0.0109), Vector3d(0.2879, 0.0332, -0.0733), Vector3d(0.2858, -0.0478, -0.0732), Vector3d(0.3004, -0.0481, 0.0110), Vector3d(-0.0349, -0.0396, 0.0692), Vector3d(-0.0329, 0.0414, 0.0691), Vector3d(-0.0475, 0.0417, -0.0150), Vector3d(-0.0496, -0.0393, -0.0149)}},
{"RightLink3",
{Vector3d(0.0464, 0.0342, 0.0241), Vector3d(-0.0012, 0.0428, -0.0180), Vector3d(-0.0025, -0.1243, -0.0505), Vector3d(0.0451, -0.1329, -0.0084), Vector3d(0.0019, -0.1416, 0.0386), Vector3d(0.0032, 0.0254, 0.0710), Vector3d(-0.0443, 0.0340, 0.0289), Vector3d(-0.0456, -0.1331, -0.0036)}},
{"RightLink4",
{Vector3d(0.0295, -0.0388, -0.0933), Vector3d(-0.0285, -0.0395, -0.0933), Vector3d(-0.0282, -0.0600, 0.0251), Vector3d(0.0298, -0.0592, 0.0251), Vector3d(0.0289, 0.0110, 0.0372), Vector3d(0.0286, 0.0314, -0.0811), Vector3d(-0.0294, 0.0307, -0.0811), Vector3d(-0.0291, 0.0103, 0.0372)}},
{"RightLink5",
{Vector3d(0.0288, -0.1145, -0.0335), Vector3d(-0.0284, -0.1144, -0.0341), Vector3d(-0.0290, -0.1207, 0.0275), Vector3d(0.0282, -0.1208, 0.0281), Vector3d(0.0284, 0.0265, 0.0432), Vector3d(0.0290, 0.0328, -0.0184), Vector3d(-0.0282, 0.0330, -0.0190), Vector3d(-0.0288, 0.0266, 0.0427)}},
{"RightLink6",
{Vector3d(0.0492, 0.0104, -0.0290), Vector3d(-0.0023, 0.0469, -0.0290), Vector3d(-0.0404, -0.0069, -0.0290), Vector3d(0.0111, -0.0434, -0.0290), Vector3d(0.0111, -0.0434, 0.0000), Vector3d(0.0492, 0.0104, 0.0000), Vector3d(-0.0023, 0.0469, 0.0000), Vector3d(-0.0404, -0.0069, 0.0000)}},
{"base_link",
{Vector3d(0.2085, 0.1895, -0.0856), Vector3d(-0.1905, 0.1895, -0.0880), Vector3d(-0.1905, -0.1895, -0.0880), Vector3d(0.2085, -0.1895, -0.0856), Vector3d(0.2071, -0.1895, 0.1679), Vector3d(0.2071, 0.1895, 0.1679), Vector3d(-0.1920, 0.1895, 0.1656), Vector3d(-0.1920, -0.1895, 0.1656)}},
{"base_link_leftarm",
{Vector3d(0.0661, -0.0353, 0.1385), Vector3d(0.0661, -0.0353, -0.0000), Vector3d(-0.0339, -0.0699, -0.0000), Vector3d(-0.0339, -0.0699, 0.1385), Vector3d(-0.0698, 0.0339, 0.1385), Vector3d(0.0302, 0.0685, 0.1385), Vector3d(0.0302, 0.0685, -0.0000), Vector3d(-0.0698, 0.0339, -0.0000)}},
{"base_link_rightarm",
{Vector3d(0.0661, -0.0353, -0.0000), Vector3d(0.0302, 0.0685, -0.0000), Vector3d(-0.0698, 0.0339, -0.0000), Vector3d(-0.0339, -0.0699, -0.0000), Vector3d(-0.0339, -0.0699, 0.1385), Vector3d(0.0661, -0.0353, 0.1385), Vector3d(0.0302, 0.0685, 0.1385), Vector3d(-0.0698, 0.0339, 0.1385)}},
{"body_2_link",
{Vector3d(0.1595, 0.0756, -0.0750), Vector3d(-0.1415, 0.0735, -0.0750), Vector3d(-0.1390, -0.2855, -0.0750), Vector3d(0.1620, -0.2834, -0.0750), Vector3d(0.1620, -0.2834, 0.5416), Vector3d(0.1595, 0.0756, 0.5416), Vector3d(-0.1415, 0.0735, 0.5416), Vector3d(-0.1390, -0.2855, 0.5416)}},
{"body_link",
{Vector3d(0.0593, 0.1034, -0.0010), Vector3d(-0.0842, 0.1024, -0.0010), Vector3d(-0.0828, -0.1036, -0.0010), Vector3d(0.0607, -0.1026, -0.0010), Vector3d(0.0607, -0.1026, 0.1600), Vector3d(0.0593, 0.1034, 0.1600), Vector3d(-0.0842, 0.1024, 0.1600), Vector3d(-0.0828, -0.1036, 0.1600)}},
{"head_link",
{Vector3d(0.0672, 0.1175, -0.0000), Vector3d(-0.0658, 0.1165, 0.0000), Vector3d(-0.0642, -0.1175, 0.0000), Vector3d(0.0689, -0.1165, -0.0000), Vector3d(0.0689, -0.1165, 0.2031), Vector3d(0.0672, 0.1175, 0.2031), Vector3d(-0.0658, 0.1165, 0.2031), Vector3d(-0.0642, -0.1175, 0.2031)}},
{"left_behind_hip_link",
{Vector3d(0.0626, 0.0721, 0.0288), Vector3d(-0.1058, 0.0721, -0.4340), Vector3d(-0.1058, 0.0000, -0.4340), Vector3d(0.0626, 0.0000, 0.0288), Vector3d(-0.0295, 0.0000, 0.0623), Vector3d(-0.0295, 0.0721, 0.0623), Vector3d(-0.1979, 0.0721, -0.4005), Vector3d(-0.1979, 0.0000, -0.4005)}},
{"left_behind_leg_link",
{Vector3d(0.0648, -0.0402, -0.0206), Vector3d(0.0648, 0.0235, -0.0206), Vector3d(-0.0927, 0.0235, -0.4532), Vector3d(-0.0927, -0.0402, -0.4532), Vector3d(-0.2204, -0.0402, -0.4068), Vector3d(-0.0629, -0.0402, 0.0259), Vector3d(-0.0629, 0.0235, 0.0259), Vector3d(-0.2204, 0.0235, -0.4068)}},
{"left_behind_wheel_link",
{Vector3d(0.0852, 0.0370, -0.0945), Vector3d(-0.0944, 0.0370, -0.0853), Vector3d(-0.0944, -0.0125, -0.0853), Vector3d(0.0852, -0.0125, -0.0945), Vector3d(0.0944, -0.0125, 0.0853), Vector3d(0.0944, 0.0370, 0.0853), Vector3d(-0.0852, 0.0370, 0.0945), Vector3d(-0.0852, -0.0125, 0.0945)}},
{"left_front_hip_link",
{Vector3d(0.1987, 0.1315, -0.3903), Vector3d(0.1020, 0.1315, -0.4259), Vector3d(0.1020, 0.0190, -0.4259), Vector3d(0.1987, 0.0190, -0.3903), Vector3d(0.0305, 0.0190, 0.0661), Vector3d(0.0305, 0.1315, 0.0661), Vector3d(-0.0661, 0.1315, 0.0305), Vector3d(-0.0661, 0.0190, 0.0305)}},
{"left_front_knee_link",
{Vector3d(0.2234, 0.0230, -0.3181), Vector3d(0.1136, 0.0230, -0.3665), Vector3d(0.1136, -0.0620, -0.3665), Vector3d(0.2234, -0.0620, -0.3181), Vector3d(0.0518, -0.0620, 0.0708), Vector3d(0.0518, 0.0230, 0.0708), Vector3d(-0.0580, 0.0230, 0.0224), Vector3d(-0.0580, -0.0620, 0.0224)}},
{"left_front_roll_link",
{Vector3d(0.0960, 0.0565, 0.0000), Vector3d(-0.0060, 0.0565, -0.1020), Vector3d(-0.0060, -0.0285, -0.1020), Vector3d(0.0960, -0.0285, 0.0000), Vector3d(-0.0060, -0.0285, 0.1020), Vector3d(-0.0060, 0.0565, 0.1020), Vector3d(-0.1080, 0.0565, -0.0000), Vector3d(-0.1080, -0.0285, -0.0000)}},
{"left_front_wheel_link",
{Vector3d(0.1223, 0.0000, -0.0336), Vector3d(-0.0336, 0.0000, -0.1223), Vector3d(-0.0336, -0.0570, -0.1223), Vector3d(0.1223, -0.0570, -0.0336), Vector3d(0.0336, -0.0570, 0.1223), Vector3d(0.0336, 0.0000, 0.1223), Vector3d(-0.1223, 0.0000, 0.0336), Vector3d(-0.1223, -0.0570, 0.0336)}},
{"right_behind_hip_link",
{Vector3d(-0.1058, -0.0000, -0.4340), Vector3d(-0.1979, -0.0000, -0.4005), Vector3d(-0.1979, -0.0721, -0.4005), Vector3d(-0.1058, -0.0721, -0.4340), Vector3d(0.0626, -0.0721, 0.0288), Vector3d(0.0626, -0.0000, 0.0288), Vector3d(-0.0295, -0.0000, 0.0623), Vector3d(-0.0295, -0.0721, 0.0623)}},
{"right_behind_leg_link",
{Vector3d(0.0648, 0.0402, -0.0206), Vector3d(-0.0927, 0.0402, -0.4532), Vector3d(-0.0927, -0.0235, -0.4532), Vector3d(0.0648, -0.0235, -0.0206), Vector3d(-0.0629, -0.0235, 0.0259), Vector3d(-0.0629, 0.0402, 0.0259), Vector3d(-0.2204, 0.0402, -0.4068), Vector3d(-0.2204, -0.0235, -0.4068)}},
{"right_behind_wheel_link",
{Vector3d(0.1259, 0.0125, -0.0183), Vector3d(-0.0182, 0.0125, -0.1259), Vector3d(-0.0182, -0.0370, -0.1259), Vector3d(0.1259, -0.0370, -0.0183), Vector3d(0.0182, -0.0370, 0.1259), Vector3d(0.0182, 0.0125, 0.1259), Vector3d(-0.1259, 0.0125, 0.0183), Vector3d(-0.1259, -0.0370, 0.0183)}},
{"right_front_hip_link",
{Vector3d(0.1956, -0.0190, -0.3918), Vector3d(0.0987, -0.0190, -0.4267), Vector3d(0.0987, -0.1320, -0.4267), Vector3d(0.1956, -0.1320, -0.3918), Vector3d(0.0310, -0.1320, 0.0659), Vector3d(0.0310, -0.0190, 0.0659), Vector3d(-0.0659, -0.0190, 0.0310), Vector3d(-0.0659, -0.1320, 0.0310)}},
{"right_front_knee_link",
{Vector3d(0.2234, 0.0620, -0.3181), Vector3d(0.1136, 0.0620, -0.3665), Vector3d(0.1136, -0.0230, -0.3665), Vector3d(0.2234, -0.0230, -0.3181), Vector3d(0.0518, -0.0230, 0.0708), Vector3d(0.0518, 0.0620, 0.0708), Vector3d(-0.0580, 0.0620, 0.0224), Vector3d(-0.0580, -0.0230, 0.0224)}},
{"right_front_roll_link",
{Vector3d(0.0960, 0.0285, 0.0000), Vector3d(-0.0060, 0.0285, -0.1020), Vector3d(-0.0060, -0.0565, -0.1020), Vector3d(0.0960, -0.0565, 0.0000), Vector3d(-0.0060, -0.0565, 0.1020), Vector3d(-0.0060, 0.0285, 0.1020), Vector3d(-0.1080, 0.0285, -0.0000), Vector3d(-0.1080, -0.0565, -0.0000)}},
{"right_front_wheel_link",
{Vector3d(0.1262, 0.0528, -0.0125), Vector3d(-0.0125, 0.0528, -0.1262), Vector3d(-0.0125, -0.0042, -0.1262), Vector3d(0.1262, -0.0042, -0.0125), Vector3d(0.0125, -0.0042, 0.1262), Vector3d(0.0125, 0.0528, 0.1262), Vector3d(-0.1262, 0.0528, 0.0125), Vector3d(-0.1262, -0.0042, 0.0125)}},
};
std::array<Vector3d, 8> eigen_points_arr = pointMap.at(col_struct.link_name);
std::vector<Eigen::Vector3d> eigen_points(eigen_points_arr.begin(), eigen_points_arr.end());
OBB obb = gjk_interface::createOBBFromPoints(eigen_points);
col_struct.obbModelList.push_back(obb);
return 0;
}
int RobotDescription::InitCollisionStructureList(const urdf::Model &urdf_model)
{
int result = 0;
int linkIndex = 0;
for (const auto& link_pair : urdf_model.links_) {
// link_pair是一个键值对: 键为链接名称，值为链接指针
urdf::LinkConstSharedPtr link = link_pair.second;
for (const auto& collision : link->collision_array) {
CollisionModel colStruct;
colStruct.link_name = link->name;
colStruct.geometry_type = collision->geometry->type;
linkCollisionMap_[link->name] = linkIndex;
int obbCnt = 1;
if (collision->geometry->type == urdf::Geometry::BOX) {
urdf::Box* box = dynamic_cast<urdf::Box*>(collision->geometry.get());
std::vector<Eigen::Vector3d> obb_points = {
Eigen::Vector3d(-box->dim.x / 2, -box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, -box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(-box->dim.x / 2, box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(-box->dim.x / 2, -box->dim.y / 2, box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, -box->dim.y / 2, box->dim.z / 2),
Eigen::Vector3d(-box->dim.x / 2, box->dim.y / 2, box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, box->dim.y / 2, box->dim.z / 2)
};
OBB obb = gjk_interface::createOBBFromPoints(obb_points);
colStruct.obbModelList.push_back(obb);
} else if (collision->geometry->type == urdf::Geometry::MESH) {
urdf::Mesh* mesh = dynamic_cast<urdf::Mesh*>(collision->geometry.get());
colStruct.mesh_filename = mesh->filename;
result = GetMeshLinkdimensions(mesh->filename, colStruct);
if (result != 0) {
printf("Failed to get mesh dimensions for %s\n", mesh->filename.c_str());
return result;
}
}
for (int i = 0; i < obbCnt; i++) {
colStruct.obbLinkIndexList.push_back(maxObbCnt);
maxObbCnt++;
}
colStruct.link_index = linkIndex;
colStruct.joint_count = 0;
if (link->name == "base_link") {
rootLinkIndex_ = linkIndex;
colStruct.parent_link_index = -1;
colStruct.rotation = Quaterniond::Identity();
colStruct.offset = Vector3d::Zero();
printf("设置根链接: %s, 索引: %d 四元数: (%.4f, %.4f, %.4f, %.4f)\n", colStruct.link_name.c_str(), linkIndex,
colStruct.rotation.x(), colStruct.rotation.y(), colStruct.rotation.z(), colStruct.rotation.w());
}
collision_structures_.push_back(colStruct);
linkIndex++;
}
}
return result;
}
void RobotDescription::UpdatePolyhedrons()
{
int linkIndex = rootLinkIndex_;
CollisionModel *colStruct = &collision_structures_[linkIndex];
std::vector<JointsModel *> jointList;
int index = 0;
int maxJointCount = 0;
while (colStruct->joint_count > 0 || index < maxJointCount) {
for (int i = 0; i < colStruct->joint_count; i++) {
jointList.push_back(&colStruct->joint_list[i]);
maxJointCount++;
}
JointsModel *jointInfo = jointList[index];
Quaterniond rotation = collision_structures_[jointInfo->parent_link].rotation;
Vector3d offset = collision_structures_[jointInfo->parent_link].offset;
index++;
linkIndex = jointInfo->child_link;
colStruct = &collision_structures_[linkIndex];
offset = offset + rotation * jointInfo->nextLinkOffset;
colStruct->rotation = rotation;
colStruct->offset = offset;
for (size_t i = 0; i < colStruct->obbModelList.size(); i++) {
OBB obb = gjk_interface::updateOBBFromPoints(colStruct->obbModelList[i],
offset,
rotation);
printf("更新链接 %s 的 OBB:\n", colStruct->link_name.c_str());
printf("中心点: (%.4f, %.4f, %.4f)\n", obb.center(0), obb.center(1), obb.center(2));
/*printf("轴向:\n");
for (int j = 0; j < 3; j++) {
printf(" (%.4f, %.4f, %.4f)\n", obb.axis[j].x(), obb.axis[j].y(), obb.axis[j].z());
}
printf("半尺寸: (%.4f, %.4f, %.4f)\n", obb.halfExtent[0], obb.halfExtent[1], obb.halfExtent[2]);*/
}
}
}
int RobotDescription::InitLinkCollisionDetectMatrix(const std::string& srdf_str)
{
g_linkCollisionDetectMatrix = new bool[maxObbCnt * maxObbCnt];
for (int i = 0; i < maxObbCnt; ++i) {
for (int j = i + 1; j < maxObbCnt; ++j) {
g_linkCollisionDetectMatrix[i * maxObbCnt + j] = true;
}
}
tinyxml2::XMLDocument doc;
tinyxml2::XMLError error = doc.Parse(srdf_str.c_str());
if (error != tinyxml2::XML_SUCCESS) {
printf("Failed to parse SRDF: %s, length: %ld\n", doc.ErrorStr(), srdf_str.length());
return -1;
}
// 获取根节点<robot>
tinyxml2::XMLElement* robot_root = doc.FirstChildElement("robot");
if (!robot_root) {
printf("SRDF has no <robot> root node\n");
return -1;
}
int disable_count = 0;
for (tinyxml2::XMLElement* dc_elem = robot_root->FirstChildElement("disable_collisions");
dc_elem;
dc_elem = dc_elem->NextSiblingElement("disable_collisions")) {
std::string link1 = dc_elem->Attribute("link1");
std::string link2 = dc_elem->Attribute("link2");
int link1Index = linkCollisionMap_.find(link1) != linkCollisionMap_.end() ? linkCollisionMap_[link1] : -1;
int link2Index = linkCollisionMap_.find(link2) != linkCollisionMap_.end() ? linkCollisionMap_[link2] : -1;
if (link1Index != -1 && link2Index != -1) {
CollisionModel* colStruct1 = &collision_structures_[link1Index];
CollisionModel* colStruct2 = &collision_structures_[link2Index];
for (int obb1Idx : colStruct1->obbLinkIndexList) {
for (int obb2Idx : colStruct2->obbLinkIndexList) {
g_linkCollisionDetectMatrix[obb1Idx * maxObbCnt + obb2Idx] = false;
g_linkCollisionDetectMatrix[obb2Idx * maxObbCnt + obb1Idx] = false;
}
}
}
disable_count++;
}
printf("Initialized link collision detect matrix, disabled %d collision pairs. total %d\n", disable_count * 2, maxObbCnt * maxObbCnt);
for (int i = 0; i < maxObbCnt; ++i) {
for (int j = 0; j < maxObbCnt; ++j) {
if (g_linkCollisionDetectMatrix[i * maxObbCnt + j]) {
printf("true ");
} else {
printf("false ");
}
}
printf("\n");
}
return 0;
}
RobotDescription::RobotDescription(const std::string &urdf, const std::string &srdf)
{
urdf::Model urdf_model;
if (!urdf_model.initString(urdf)) {
printf("无法解析URDF模型\n");
return;
}
InitCollisionStructureList(urdf_model);
InitJoint(urdf_model);
UpdatePolyhedrons();
InitLinkCollisionDetectMatrix(srdf);
}
RobotDescription::~RobotDescription()
{
// 清理资源（如果有的话）
delete g_linkCollisionDetectMatrix;
}
/**
* @brief 以 std::string 形式读取文件全部内容
* @param file_path 文件绝对路径或相对路径
* @return 文件内容的 std::string
* @throws 若文件不存在、无法打开或读取失败，抛出 std::runtime_error
*/
std::string readFileToString(const std::string& file_path) {
// 1. 打开文件（二进制模式避免换行符转换，确保内容完整）
std::ifstream file(file_path, std::ios::in | std::ios::binary);
if (!file.is_open()) {
throw std::runtime_error("无法打开文件：" + file_path + "（可能路径错误或权限不足）\n");
}
// 2. 读取文件内容到 string
std::string content;
try {
// 定位到文件末尾，获取文件大小
file.seekg(0, std::ios::end);
// 预留内存（避免多次扩容，提升效率）
content.reserve(static_cast<size_t>(file.tellg()));
// 回到文件开头
file.seekg(0, std::ios::beg);
// 用迭代器读取全部内容（高效且简洁）
content.assign(std::istreambuf_iterator<char>(file), std::istreambuf_iterator<char>());
} catch (const std::exception& e) {
file.close(); // 异常时确保文件关闭
throw std::runtime_error("读取文件失败：" + file_path + "（错误信息：" + e.what() + "）\n");
}
// 3. 关闭文件（ifstream 析构时会自动关闭，但显式关闭更严谨）
file.close();
// 4. 可选：检查内容是否为空（根据需求决定是否抛出异常）
if (content.empty()) {
std::cerr << "[警告] 文件内容为空：" << file_path << std::endl;
// 若需要严格检查，可抛出异常：
// throw std::runtime_error("文件内容为空：" + file_path);
}
return content;
}
void searchRecursive(const fs::path& dir, const std::string& target, std::string& result, std::string& result_dir) {
for (const auto& entry : fs::directory_iterator(dir)) {
if (entry.is_directory()) {
searchRecursive(entry.path(), target, result, result_dir); // 递归子目录
if (!result.empty()) return; // 找到后提前返回
} else if (entry.is_regular_file() && entry.path().filename() == target) {
result = entry.path().string();
result_dir = entry.path().parent_path().string();
return;
}
}
}
std::string findFileInCurrentDir(const std::string& target_filename, std::string& result_dir) {
// 获取当前工作目录
std::string current_dir;
try {
current_dir = fs::current_path().string();
} catch (const fs::filesystem_error& e) {
throw std::runtime_error("无法获取当前目录：" + std::string(e.what()));
}
// 遍历当前目录下的所有文件（不递归子目录）
try {
std::string found_path;
searchRecursive(current_dir, target_filename, found_path, result_dir);
if (!found_path.empty()) {
return found_path; // 找到文件，返回路径
}
} catch (const fs::filesystem_error& e) {
throw std::runtime_error("遍历目录失败：" + std::string(e.what()));
}
// 未找到文件
return "";
}
int main(int argc, char *argv[])
{
UNUSED(argc);
UNUSED(argv);
// 示例URDF和SRDF字符串
std::string urdf_dir = "";
std::string srdf_dir = "";
std::string urdf_string = readFileToString(findFileInCurrentDir("FHrobot.urdf", urdf_dir));
std::string srdf_string = readFileToString(findFileInCurrentDir("FHrobot.srdf", srdf_dir));
printf("URDF路径: %s\n", urdf_dir.c_str());
printf("SRDF路径: %s\n", srdf_dir.c_str());
// 创建RobotDescription对象
RobotDescription robot_description(urdf_string, srdf_string);
// 其他逻辑...
return 0;
}

4
gjk_interface/include/gjk_interface.hpp
View File

@@ -3,6 +3,7 @@
#include <vector>
#include <Eigen/Dense>
#include "gjk_interface.hpp"
typedef enum {
COLLISION_RESULT_NO_COLLISION = 0,
@@ -13,6 +14,7 @@ typedef enum {
struct OBB {
Eigen::Vector3d center; // 中心
Eigen::Vector3d axis[3]; // 3条正交的棱边方向轴（单位向量）
Eigen::Vector3d axisVectors[3]; // 3条正交的棱边方向轴（非单位向量）
double halfExtent[3]; // 沿各轴的半长（从中心到面的距离）
};
@@ -20,6 +22,8 @@ namespace gjk_interface {
bool gjkCollisionJudge(const std::vector<Eigen::Vector3d>& polyA, const std::vector<Eigen::Vector3d>& polyB);
OBB createOBBFromVertices(const std::vector<Eigen::Vector3d>& vertices,
const float length, const float width, const float height);
OBB createOBBFromPoints(const std::vector<Eigen::Vector3d>& vertices);
OBB updateOBBFromPoints(OBB originalOBB, Eigen::Vector3d translation, Eigen::Quaterniond rotation);
bool checkOBBCollision(const OBB &obb1, const OBB &obb2);
} // namespace gjk_interface

55
gjk_interface/src/gjk_interface.cpp
View File

@@ -186,6 +186,61 @@ namespace gjk_interface {
return obb;
}
OBB createOBBFromPoints(const std::vector<Eigen::Vector3d>& vertices) {
if (vertices.size() < 8) {
throw std::invalid_argument("OBB创建失败:必须输入至少8个顶点");
}
OBB obb;
for (int i = 1; i < 8; ++i) {
Vector3d vec1 = vertices[i] - vertices[0];
for (int j = i + 1; j < 7; ++j) {
Vector3d vec2 = vertices[j] - vertices[0];
if (vec1.dot(vec2) < 1e-4) {
for (int k = j + 1; k < 8; ++k) {
Vector3d vec3 = vertices[k] - vertices[0];
if (fabs(vec1.dot(vec3)) < 1e-4 && fabs(vec2.dot(vec3)) < 1e-4) {
// 找到3条互相正交的边
obb.axis[0] = vec1.normalized();
obb.axis[1] = vec2.normalized();
obb.axis[2] = vec3.normalized();
obb.axisVectors[0] = vec1;
obb.axisVectors[1] = vec2;
obb.axisVectors[2] = vec3;
// 计算中心点
obb.center = (vertices[i] + vertices[j] + vertices[k] - vertices[0]) * (1.0 / 2.0);
// 计算半长
obb.halfExtent[0] = vec1.norm() * (1.0 / 2.0);
obb.halfExtent[1] = vec2.norm() * (1.0 / 2.0);
obb.halfExtent[2] = vec3.norm() * (1.0 / 2.0);
return obb;
}
}
}
}
}
return obb;
}
OBB updateOBBFromPoints(OBB originalOBB, Eigen::Vector3d translation, Eigen::Quaterniond rotation) {
OBB updatedOBB;
// 更新中心点
updatedOBB.center = rotation * originalOBB.center + translation;
// 更新轴方向
for (int i = 0; i < 3; ++i) {
updatedOBB.axis[i] = rotation * originalOBB.axis[i];
updatedOBB.axisVectors[i] = rotation * originalOBB.axisVectors[i];
updatedOBB.halfExtent[i] = originalOBB.halfExtent[i];
}
return updatedOBB;
}
// 计算OBB在指定轴上的投影范围（min, max）
std::pair<double, double> projectOBB(const OBB& obb, const Vector3d& axis) {
// OBB中心在轴上的投影

7
rm_arm_control/CMakeLists.txt
View File

@@ -10,6 +10,10 @@ if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
endif()
add_compile_options(-g)
#set(CMAKE_BUILD_TYPE Release)
set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
set(CGAL_DATA_DIR ".")
# 全局设置 C++ 编译选项
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
# 全局设置 C 编译选项
@@ -50,6 +54,7 @@ find_package(trajectory_msgs REQUIRED)
find_package(control_msgs REQUIRED)
find_package(gjk_interface REQUIRED)
find_package(interfaces REQUIRED)
find_package(CGAL REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
@@ -66,6 +71,7 @@ set(SOURCES
simulator/rm_arm_simulator.cpp
simulator/trapezoidal_trajectory_kinematics.cpp
simulator/rm_driver_kinematics.cpp
simulator/col_simulator.cpp
src/goal_manager.cpp
driver/arm_driver.cpp
driver/rm_arm_driver.cpp
@@ -94,6 +100,7 @@ find_library(RMAN_API_LIB NAMES api_cpp PATHS "${CMAKE_CURRENT_SOURCE_DIR}/Robot
# 链接库
target_link_libraries(rm_arm_control ${RMAN_API_LIB})
target_link_libraries(rm_arm_control CGAL::CGAL)
# 如果是 UNIX 平台且不是 ARM 平台，确保动态库文件可以在运行时被找到（这一步通常不是必须的，但在某些配置下可能需要）
if(UNIX)

46
rm_arm_control/include/col_simulator.hpp
View File

@@ -5,6 +5,7 @@
#include <map>
#include <urdf_model/pose.h>
#include <std_msgs/msg/string.hpp>
#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
#include "arm_define.h"
#include "arm_driver_define.hpp"
#include "gjk_interface.hpp"
@@ -18,25 +19,23 @@ typedef enum {
BODY_CNT
} BodyListE;
typedef enum {
/*typedef enum {
FRAME_CHANGE_TYPE_ARM_BASE_TO_ORI,
FRAME_CHANGE_TYPE_ORI_TO_ARM_BASE,
FRAME_CHANGE_TYPE_ARM_END_TO_ORI,
FRAME_CHANGE_TYPE_ORI_TO_ARM_END,
FRAME_CHANGE_TYPE_ERR
} FrameChangeTypeE;
} FrameChangeTypeE;*/
typedef std::vector<Eigen::Vector3d> Polyhedron;
struct JointInfo {
struct JointsInfo {
std::string name; // 关节名称
int type; // 关节类型
int parent_link; // 父连杆
int child_link; // 子连杆
Eigen::Quaterniond rotationAll;
Eigen::Vector3d axis; // 关节轴
Eigen::Vector3d offset; // 关节偏移
Eigen::Vector3d leftBottom; // 左下角点关于关节原点偏移
Eigen::Vector3d nextLinkOffset; // 下一个连杆关于关节原点偏移
Eigen::Quaterniond rotation; // 关节旋转
double limit_lower;
@@ -46,14 +45,17 @@ struct JointInfo {
float *angle[COLLISION_CHECK_SIMPLE_CNT]; // 关节角度
};
struct CollisionStructure {
struct CollisionStructureInfo {
std::string link_name; // 所属链接名称
std::string geometry_type; // 几何类型
std::string mesh_filename; // mesh文件路径（如STL）
std::vector<double> mesh_bounds; // 网格边界盒 [min_x, max_x, min_y, max_y, min_z, max_z]
Eigen::Quaterniond rotationAdd; // 不平行轴关节叠加旋转
std::vector<OBB> obbModelList; // 网格边界盒 [min_x, max_x, min_y, max_y, min_z, max_z]
std::vector<int> obbLinkIndexList; // 网格边界盒所属链接索引
Eigen::Quaterniond rotation[COLLISION_CHECK_SIMPLE_CNT]; // 链接旋转
Eigen::Vector3d offset[COLLISION_CHECK_SIMPLE_CNT]; // 链接偏移
bool rotation_add_flag;
std::vector<JointInfo> joint_list;
std::vector<JointsInfo> joint_list;
int joint_count;
int link_index;
int parent_link_index;
@@ -62,8 +64,7 @@ struct CollisionStructure {
class CollisionSimulator
{
public:
CollisionSimulator(std_msgs::msg::String::SharedPtr urdf_string_ptr, float **jointsList, KinematicsManager **trajectory);
CollisionSimulator(std::string urdf_string, float **jointsList, KinematicsManager **trajectory);
CollisionSimulator(std::string urdf_string, std::string srdf_string, float **jointsList, KinematicsManager **trajectory);
~CollisionSimulator();
int CheckCollision();
@@ -73,26 +74,27 @@ public:
private:
void InitCollisionSimulator(const urdf::Model &urdf_model, float **jointsList, KinematicsManager **trajectory);
int CheckJointsAngleLimit(float *joints, int bodyType);
int CheckJointsAngleLimit(int simple, int bodyType);
int InitPolyhedrons(const urdf::Model &urdf_model);
void InitArmSinglePolyhedron(int index, Polyhedron *poly, Vector3d &origin, const Vector3d &offset, const Matrix3d &rotation);
void UpdatePolyhedrons(int startLinkIndex, int endLinkIndex, int simple, float *jointList);
int CheckCollisionInner(std::vector<OBB> *addedOBBs, std::vector<OBB> *addedOBBsNext_);
void UpdatePolyhedrons(int bodyType, int simple);
int InitCollisionStructureList(const urdf::Model &urdf_model);
int GetMeshLinkdimensions(const std::string& filename, CollisionStructure& col_struct);
std::pair<Eigen::Vector3d, Eigen::Matrix3d> GetBodyTransform(int startIndex);
int GetMeshLinkdimensions(const std::string& filename, CollisionStructureInfo& col_struct);
int InitJoint(const urdf::Model &urdf_model);
int InitJointModel();
void InitPolyhedronsList();
void UpdateArmPolyhedrons();
int InitLinkCollisionDetectMatrix(const std::string& srdf_str);
KinematicsManager *trajectory_[BODY_CNT];
std::vector<Polyhedron> polyhedrons_[COLLISION_CHECK_SIMPLE_CNT];
std::vector<OBB> addedOBBs_[COLLISION_CHECK_SIMPLE_CNT];
std::vector<CollisionStructure> collision_structures_;
std::vector<JointInfo> jointMap_;
std::vector<CollisionStructureInfo> collision_structures_;
std::vector<JointsInfo> jointMap_;
int simpleUpdateIndex_;
int rootLinkIndex_;
int maxObbCnt;
float *joints_[COLLISION_CHECK_SIMPLE_CNT][BODY_CNT];
std::unordered_map<int, Polyhedron> addedPolyhedrons_;

72
rm_arm_control/launch/rm_arm_control.launch.py
View File

@@ -6,6 +6,75 @@ from launch_ros.substitutions import FindPackageShare
from launch.actions import OpaqueFunction
import os
def open_file(file_name, context):
try:
package_share = FindPackageShare(package='rm_arm_control').perform(context)
# 1. 计算SRDF文件路径并解析
file_path = PathJoinSubstitution(
[package_share, 'urdf', file_name] # 替换为实际的SRDF路径
).perform(context) # context 是LaunchContext对象，通常在generate_launch_description中可用
# 2. 检查路径是否存在
if not os.path.exists(file_path):
raise FileNotFoundError(f"SRDF文件不存在: {file_path}")
# 3. 检查路径是否为文件（避免目录路径）
if not os.path.isfile(file_path):
raise IsADirectoryError(f"指定路径是目录，不是文件: {file_path}")
# 4. 尝试打开并读取文件
with open(file_path, 'r') as f:
file_content = f.read()
# 5. 检查文件内容是否为空
if not file_content.strip(): # 忽略纯空白内容
raise ValueError(f"文件内容为空: {file_path}")
# 6. （可选）简单验证XML格式是否合法（检查根节点）
if '<robot' not in file_content:
raise SyntaxError(f"文件格式无效，未找到<robot>根节点: {file_path}")
# 读取成功后的逻辑（如加载到参数服务器）
print(f"成功读取SRDF文件: {file_path}")
return file_content # 返回读取的内容，或根据需要处理
except FileNotFoundError as e:
# 文件不存在错误
print(f"错误: {str(e)}")
print("请检查路径是否正确，确保SRDF文件存在于指定目录")
# 可根据需要抛出异常终止launch，或使用return None等方式处理
raise # 抛出异常终止launch启动
except IsADirectoryError as e:
# 路径是目录而非文件
print(f"错误: {str(e)}")
print("请检查路径是否指向具体的SRDF文件，而非目录")
raise
except PermissionError:
# 无权限读取文件
print(f"错误: 没有权限读取SRDF文件: {file_path}")
print("请检查文件权限，确保当前用户有读取权限")
raise
except ValueError as e:
# 文件内容为空
print(f"错误: {str(e)}")
print("请检查SRDF文件是否被正确生成，内容不能为空")
raise
except SyntaxError as e:
# XML格式初步验证失败
print(f"错误: {str(e)}")
print("请检查SRDF文件是否为有效的XML格式")
raise
except Exception as e:
# 捕获其他未预料的错误
print(f"读取SRDF文件时发生未知错误: {str(e)}")
raise
def load_urdf(context, *args, **kwargs):
nodeList = []
@@ -21,6 +90,8 @@ def load_urdf(context, *args, **kwargs):
with open(urdf_path, 'r') as f:
urdf_content = f.read()
srdf_content = open_file('FHrobot.srdf', context)
robot_controller = Node(
package='rm_arm_control',
executable='rm_arm_control',
@@ -28,6 +99,7 @@ def load_urdf(context, *args, **kwargs):
output='screen',
parameters=[{
'robot_description': urdf_content,
'robot_description_semantic': srdf_content,
'use_sim_time': False
}]
)

696
rm_arm_control/simulator/col_simulator.cpp
View File

@@ -4,8 +4,14 @@
#include <string>
#include <rclcpp/rclcpp.hpp>
#include <moveit/robot_model/robot_model.h>
#include <CGAL/optimal_bounding_box.h>
#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
#include <CGAL/Surface_mesh.h>
#include "col_simulator.hpp"
typedef CGAL::Exact_predicates_inexact_constructions_kernel CgalK;
typedef CgalK::Point_3 CgalPoint;
using namespace Eigen;
const int g_bodyLinkCnt[BODY_CNT] = {USED_ARM_DOF + 1, USED_ARM_DOF + 1, USED_OTHER_DOF + 1};
const int g_jointLinkCnt[BODY_CNT] = {USED_ARM_DOF, USED_ARM_DOF, USED_OTHER_DOF};
@@ -13,120 +19,157 @@ float g_leftArmJoints[COLLISION_CHECK_SIMPLE_CNT][USED_ARM_DOF] = {0};
float g_rightArmJoints[COLLISION_CHECK_SIMPLE_CNT][USED_ARM_DOF] = {0};
float g_otherJoints[COLLISION_CHECK_SIMPLE_CNT][USED_OTHER_DOF] = {0};
const std::string g_bodyStartName[BODY_CNT] = {"LeftLink1", "RightLink1", "base_link"};
bool *g_linkCollisionDetectMatrix = nullptr;
int g_linkStartIndex[BODY_CNT] = {0};
#define POLYHEDRONS_POINTS_CNT (8)
enum OriginBoxIndex {
LEFT_ARM_ORIGIN = 0,
LEFT_ARM_UPDATE_ORIGIN,
RIGHT_ARM_ORIGIN = g_bodyLinkCnt[BODY_TYPE_LEFT_ARM],
RIGHT_ARM_UPDATE_ORIGIN,
OTHER_ORIGIN = g_bodyLinkCnt[BODY_TYPE_LEFT_ARM] + g_bodyLinkCnt[BODY_TYPE_RIGHT_ARM],
BASE = g_bodyLinkCnt[BODY_TYPE_LEFT_ARM] + g_bodyLinkCnt[BODY_TYPE_RIGHT_ARM] + g_bodyLinkCnt[BODY_TYPE_OTHERS],
};
const int g_linkStartIndex[BODY_CNT + 1] = {
LEFT_ARM_UPDATE_ORIGIN,
RIGHT_ARM_UPDATE_ORIGIN,
OTHER_ORIGIN,
BASE
};
#define ROOT (BASE - 1)
bool g_linkCollisionDetecMatrix[OTHER_ORIGIN][BASE] = {false};
Vector3d g_origin[BASE] = {Vector3d::Zero()};
Vector3d g_offset[BASE] = {Vector3d::Zero()};
Vector3d g_dir[BASE] = {Vector3d::Zero()};
static double toRadians(float degrees) {
return (static_cast<double>(degrees)) * (M_PI / 180.0);
}
static int UpdateJointInfo(int i, int parent, Quaterniond &rotation, std::vector<JointInfo> &jointMap)
int CollisionSimulator::InitJointModel()
{
int key = (parent << 8) | (i % 256);
auto jointPair = jointMap.find(key);
if (jointPair == jointMap.end()) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "lose joint %d -> %d", parent, i);
return -1;
int linkIndex = rootLinkIndex_;
CollisionStructureInfo *colStruct = &collision_structures_[linkIndex];
std::vector<JointsInfo *> jointList;
int index = 0;
int maxJointCount = 0;
Quaterniond rotationAll = Quaterniond::Identity();
while (colStruct->joint_count > 0 || index < maxJointCount) {
for (int i = 0; i < colStruct->joint_count; i++) {
jointList.push_back(&colStruct->joint_list[i]);
maxJointCount++;
colStruct->joint_list[i].rotation = rotationAll * colStruct->joint_list[i].rotation;
colStruct->joint_list[i].axis = colStruct->joint_list[i].rotation * colStruct->joint_list[i].axis;
colStruct->joint_list[i].nextLinkOffset = rotationAll * colStruct->joint_list[i].nextLinkOffset;
}
JointsInfo *jointInfo = jointList[index];
rotationAll = jointInfo->rotation;
index++;
linkIndex = jointInfo->child_link;
colStruct = &collision_structures_[linkIndex];
for (int i = 0; i < colStruct->obbModelList.size(); i++) {
colStruct->obbModelList[i] = gjk_interface::updateOBBFromPoints(colStruct->obbModelList[i],
Vector3d::Zero(),
rotationAll);
}
}
Vector3d position = rotation * jointPair->second.offset;
g_origin[i] = position;
rotation = rotation * jointPair->second.rotation;
jointPair->second.rotationAll = rotation;
Eigen::Vector3d axis = jointPair->second.axis;
g_dir[i] = rotation * axis;
return 0;
}
static int InitJoint(const urdf::Model &urdf_model, std::vector<JointInfo> &jointMap)
int CollisionSimulator::InitJoint(const urdf::Model &urdf_model)
{
const std::map<std::string, int> jointNameToIndexMap = {
{"left_joint1", 0}, {"left_joint2", 1}, {"left_joint3", 2}, {"left_joint4", 3}, {"left_joint5", 4}, {"left_joint6", 5},
{"right_joint1", 0}, {"right_joint2", 1}, {"right_joint3", 2}, {"right_joint4", 3}, {"right_joint5", 4}, {"right_joint6", 5},
{"left_behind_hip_joint", 0}, {"left_behind_leg_joint", 1}, {"left_behind_wheel_joint", 2}, {"right_behind_hip_joint", 3},
{"right_behind_leg_joint", 4}, {"right_behind_wheel_joint", 5}, {"body_joint", 6}, {"body_2_joint", 7}, {"head_joint", 8},
{"left_front_roll_joint", 9}, {"left_front_hip_joint", 10}, {"left_front_knee_joint", 11},
{"left_front_wheel_joint", 12}, {"right_front_roll_joint", 13}, {"right_front_hip_joint", 14}, {"right_front_knee_joint", 15}, {"right_front_wheel_joint", 16}
};
const std::map<std::string, int> jointNameToBodyType = {
{"left_joint1", BODY_TYPE_LEFT_ARM}, {"left_joint2", BODY_TYPE_LEFT_ARM}, {"left_joint3", BODY_TYPE_LEFT_ARM}, {"left_joint4", BODY_TYPE_LEFT_ARM},
{"left_joint5", BODY_TYPE_LEFT_ARM}, {"left_joint6", BODY_TYPE_LEFT_ARM},
{"right_joint1", BODY_TYPE_RIGHT_ARM}, {"right_joint2", BODY_TYPE_RIGHT_ARM}, {"right_joint3", BODY_TYPE_RIGHT_ARM}, {"right_joint4", BODY_TYPE_RIGHT_ARM},
{"right_joint5", BODY_TYPE_RIGHT_ARM}, {"right_joint6", BODY_TYPE_RIGHT_ARM},
{"left_behind_hip_joint", BODY_TYPE_OTHERS}, {"left_behind_leg_joint", BODY_TYPE_OTHERS}, {"left_behind_wheel_joint", BODY_TYPE_OTHERS},
{"right_behind_hip_joint", BODY_TYPE_OTHERS}, {"right_behind_leg_joint", BODY_TYPE_OTHERS}, {"right_behind_wheel_joint", BODY_TYPE_OTHERS},
{"body_joint", BODY_TYPE_OTHERS}, {"body_2_joint", BODY_TYPE_OTHERS}, {"head_joint", BODY_TYPE_OTHERS}, {"left_front_roll_joint", BODY_TYPE_OTHERS},
{"left_front_hip_joint", BODY_TYPE_OTHERS}, {"left_front_knee_joint", BODY_TYPE_OTHERS}, {"left_front_wheel_joint", BODY_TYPE_OTHERS},
{"right_front_roll_joint", BODY_TYPE_OTHERS}, {"right_front_hip_joint", BODY_TYPE_OTHERS}, {"right_front_knee_joint", BODY_TYPE_OTHERS},
{"right_front_wheel_joint", BODY_TYPE_OTHERS}
};
for (const auto& joint_pair : urdf_model.joints_) {
JointInfo jointInfo;
// joint_pair是一个键值对: 键为关节名称，值为关节指针
jointInfo.name = joint_pair.first;
urdf::JointConstSharedPtr joint = joint_pair.second;
jointInfo.type = joint->type;
jointInfo.parent_link = -1;
jointInfo.child_link = -1;
auto link = g_linkMap.find(joint->parent_link_name);
if (link != g_linkMap.end()) {
jointInfo.parent_link = link->second;
} else {
continue;
JointsInfo joint_info;
joint_info.name = joint->name;
joint_info.type = joint->type;
joint_info.parent_link = -1;
joint_info.child_link = -1;
if (joint->parent_link_name != "") {
if (linkCollisionMap_.find(joint->parent_link_name) != linkCollisionMap_.end()) {
joint_info.parent_link = linkCollisionMap_[joint->parent_link_name];
} else {
RCLCPP_WARN(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Joint %s 的父链接 %s 未找到！", joint->name.c_str(), joint->parent_link_name.c_str());
return -1;
}
}
link = g_linkMap.find(joint->child_link_name);
if (link != g_linkMap.end()) {
jointInfo.child_link = link->second;
} else {
continue;
if (joint->child_link_name != "") {
if (linkCollisionMap_.find(joint->child_link_name) != linkCollisionMap_.end()) {
joint_info.child_link = linkCollisionMap_[joint->child_link_name];
} else {
RCLCPP_WARN(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Joint %s 的子链接 %s 未找到！", joint->name.c_str(), joint->child_link_name.c_str());
return -1;
}
}
jointInfo.offset = Vector3d(joint->parent_to_joint_origin_transform.position.x,
joint_info.nextLinkOffset = Vector3d(joint->parent_to_joint_origin_transform.position.x,
joint->parent_to_joint_origin_transform.position.y,
joint->parent_to_joint_origin_transform.position.z);
jointInfo.rotation = Quaterniond(
joint_info.rotation = Quaterniond(
joint->parent_to_joint_origin_transform.rotation.w,
joint->parent_to_joint_origin_transform.rotation.x,
joint->parent_to_joint_origin_transform.rotation.y,
joint->parent_to_joint_origin_transform.rotation.z);
if (joint->limits != NULL) {
jointInfo.limit_lower = joint->limits->lower;
jointInfo.limit_upper = joint->limits->upper;
jointInfo.limit_v = joint->limits->velocity;
jointInfo.limit_e = joint->limits->effort;
if (joint->type != urdf::Joint::FIXED) {
int jointAngleIndex = jointNameToIndexMap.at(joint->name);
int bodyType = jointNameToBodyType.at(joint->name);
for (int i = 0; i < COLLISION_CHECK_SIMPLE_CNT; i++) {
joint_info.angle[i] = &joints_[i][bodyType][jointAngleIndex];
}
joint_info.axis = Vector3d(joint->axis.x, joint->axis.y, joint->axis.z);
if (joint->limits != NULL) {
joint_info.limit_lower = joint->limits->lower;
joint_info.limit_upper = joint->limits->upper;
joint_info.limit_v = joint->limits->velocity;
joint_info.limit_e = joint->limits->effort;
}
} else {
joint_info.axis = Vector3d::Zero();
joint_info.limit_lower = 0.0;
joint_info.limit_upper = 0.0;
joint_info.limit_v = 0.0;
joint_info.limit_e = 0.0;
}
jointInfo.angle = 0;
jointInfo.axis = Vector3d(joint->axis.x, joint->axis.y, joint->axis.z);
int key = ((jointInfo.parent_link % 256) << 8) | (jointInfo.child_link % 256);
jointMap[key] = jointInfo;
}
Quaterniond rotation = Quaterniond::Identity();
int result = UpdateJointInfo(LEFT, BASE, rotation, jointMap);
if (result != 0) return -1;
for (int i = LEFT + 1; i < RIGHT; ++i) {
result = UpdateJointInfo(i, i - 1, rotation, jointMap);
if (result != 0) return -1;
}
rotation = Quaterniond::Identity();
result = UpdateJointInfo(RIGHT, BASE, rotation, jointMap);
if (result != 0) return -1;
for (int i = RIGHT + 1; i < BASE; ++i) {
result = UpdateJointInfo(i, i - 1, rotation, jointMap);
if (result != 0) return -1;
jointMap_.push_back(joint_info);
CollisionStructureInfo *parentColStruct = &collision_structures_[joint_info.parent_link];
parentColStruct->joint_list.push_back(joint_info);
parentColStruct->joint_count++;
CollisionStructureInfo *childColStruct = &collision_structures_[joint_info.child_link];
childColStruct->parent_link_index = joint_info.parent_link;
}
InitJointModel();
return 0;
}
int CollisionSimulator::GetMeshLinkdimensions(const std::string& filename, CollisionStructure& col_struct)
int CollisionSimulator::GetMeshLinkdimensions(const std::string& filename, CollisionStructureInfo& col_struct)
{
// 这里可以添加读取网格文件并计算边界盒的代码
// 假设已经计算出边界盒的最小和最大坐标
col_struct.mesh_bounds = {min_x, max_x, min_y, max_y, min_z, max_z};
shapes::Mesh* mesh = shapes::createMeshFromResource(filename);
if (!mesh) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "无法加载网格文件: %s", filename.c_str());
return false;
}
std::vector<Eigen::Vector3d> eigen_points;
std::vector<CgalPoint> points;
for (unsigned int i = 0; i < mesh->vertex_count; ++i) {
points.emplace_back(mesh->vertices[3*i], mesh->vertices[3*i + 1], mesh->vertices[3*i + 2]);
}
std::array<CgalPoint, 8> obb_points;
CGAL::oriented_bounding_box(points, obb_points, CGAL::parameters::use_convex_hull(true));
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "计算%s得到的 OBB 顶点:", col_struct.link_name.c_str());
for (const auto& pt : obb_points) {
eigen_points.push_back(Eigen::Vector3d(pt.x(), pt.y(), pt.z()));
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "(%.4f, %.4f, %.4f)", pt.x(), pt.y(), pt.z());
}
OBB obb = gjk_interface::createOBBFromPoints(eigen_points);
col_struct.obbModelList.push_back(obb);
return 0;
}
@@ -138,14 +181,25 @@ int CollisionSimulator::InitCollisionStructureList(const urdf::Model &urdf_model
// link_pair是一个键值对: 键为链接名称，值为链接指针
urdf::LinkConstSharedPtr link = link_pair.second;
for (const auto& collision : link->collision_array) {
CollisionStructure colStruct;
CollisionStructureInfo colStruct;
colStruct.link_name = link->name;
colStruct.geometry_type = collision->geometry->type;
linkCollisionMap_[link->name] = linkIndex;
int obbCnt = 1;
if (collision->geometry->type == urdf::Geometry::BOX) {
urdf::Box* box = dynamic_cast<urdf::Box*>(collision->geometry.get());
colStruct.mesh_bounds = {-box->dim.x / 2, box->dim.x / 2,
-box->dim.y / 2, box->dim.y / 2,
-box->dim.z / 2, box->dim.z / 2};
std::vector<Eigen::Vector3d> obb_points = {
Eigen::Vector3d(-box->dim.x / 2, -box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, -box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(-box->dim.x / 2, box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, box->dim.y / 2, -box->dim.z / 2),
Eigen::Vector3d(-box->dim.x / 2, -box->dim.y / 2, box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, -box->dim.y / 2, box->dim.z / 2),
Eigen::Vector3d(-box->dim.x / 2, box->dim.y / 2, box->dim.z / 2),
Eigen::Vector3d(box->dim.x / 2, box->dim.y / 2, box->dim.z / 2)
};
OBB obb = gjk_interface::createOBBFromPoints(obb_points);
colStruct.obbModelList.push_back(obb);
} else if (collision->geometry->type == urdf::Geometry::MESH) {
urdf::Mesh* mesh = dynamic_cast<urdf::Mesh*>(collision->geometry.get());
colStruct.mesh_filename = mesh->filename;
@@ -156,20 +210,87 @@ int CollisionSimulator::InitCollisionStructureList(const urdf::Model &urdf_model
}
}
colStruct.link_index = linkIndex;
linkIndex++;
for (int i = 0; i < obbCnt; i++) {
colStruct.obbLinkIndexList.push_back(maxObbCnt);
for (int j = 0; j < COLLISION_CHECK_SIMPLE_CNT; j++) {
addedOBBs_[j].push_back(colStruct.obbModelList[i]);
}
maxObbCnt++;
}
colStruct.joint_count = 0;
for (int i = 0; i < BODY_CNT; i++) {
if (link->name == g_bodyStartName[i]) {
g_linkStartIndex[i] = linkIndex;
if (i == BODY_TYPE_OTHERS) {
rootLinkIndex_ = linkIndex;
colStruct.parent_link_index = -1;
for (int j = 0; j < COLLISION_CHECK_SIMPLE_CNT; j++) {
colStruct.rotation[j] = Quaterniond::Identity();
colStruct.offset[j] = Vector3d::Zero();
}
}
break;
}
}
collision_structures_.push_back(colStruct);
linkIndex++;
}
}
return result;
}
int CollisionSimulator::InitLinkCollisionDetectMatrix(const std::string& srdf_str)
{
g_linkCollisionDetectMatrix = new bool[maxObbCnt * maxObbCnt];
for (int i = 0; i < maxObbCnt; ++i) {
for (int j = i + 1; j < maxObbCnt; ++j) {
g_linkCollisionDetectMatrix[i * maxObbCnt + j] = true;
}
}
tinyxml2::XMLDocument doc;
tinyxml2::XMLError error = doc.Parse(srdf_str.c_str());
if (error != tinyxml2::XML_SUCCESS) {
RCLCPP_ERROR(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Failed to parse SRDF: %s, length: %ld", doc.ErrorStr(), srdf_str.length());
return -1;
}
// 获取根节点<robot>
tinyxml2::XMLElement* robot_root = doc.FirstChildElement("robot");
if (!robot_root) {
RCLCPP_ERROR(rclcpp::get_logger(GET_FUNC_LINE_STR()), "SRDF has no <robot> root node");
return -1;
}
int disable_count = 0;
for (tinyxml2::XMLElement* dc_elem = robot_root->FirstChildElement("disable_collisions");
dc_elem;
dc_elem = dc_elem->NextSiblingElement("disable_collisions")) {
std::string link1 = dc_elem->Attribute("link1");
std::string link2 = dc_elem->Attribute("link2");
int link1Index = linkCollisionMap_.find(link1) != linkCollisionMap_.end() ? linkCollisionMap_[link1] : -1;
int link2Index = linkCollisionMap_.find(link2) != linkCollisionMap_.end() ? linkCollisionMap_[link2] : -1;
if (link1Index != -1 && link2Index != -1) {
CollisionStructureInfo* colStruct1 = &collision_structures_[link1Index];
CollisionStructureInfo* colStruct2 = &collision_structures_[link2Index];
for (int obb1Idx : colStruct1->obbLinkIndexList) {
for (int obb2Idx : colStruct2->obbLinkIndexList) {
g_linkCollisionDetectMatrix[obb1Idx * maxObbCnt + obb2Idx] = false;
g_linkCollisionDetectMatrix[obb2Idx * maxObbCnt + obb1Idx] = false;
}
}
}
disable_count++;
}
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Initialized link collision detect matrix, disabled %d collision pairs.", disable_count);
return 0;
}
int CollisionSimulator::InitPolyhedrons(const urdf::Model &urdf_model)
{
InitCollisionStructureList(urdf_model);
std::vector<CollisionStructure> collision_structures_temp;
InitJoint(urdf_model, jointMap_);
InitCollisionStructure(urdf_model, collision_structures_temp);
return RemakeCollisionStructureList(collision_structures_temp);
InitJoint(urdf_model);
return 0;
}
void CollisionSimulator::InitCollisionSimulator(const urdf::Model &urdf_model, float **jointsList, KinematicsManager **trajectory)
@@ -178,19 +299,21 @@ void CollisionSimulator::InitCollisionSimulator(const urdf::Model &urdf_model, f
joints_[i][BODY_TYPE_LEFT_ARM] = g_leftArmJoints[i];
joints_[i][BODY_TYPE_RIGHT_ARM] = g_rightArmJoints[i];
joints_[i][BODY_TYPE_OTHERS] = g_otherJoints[i];
for (int j = 0; j < BODY_CNT; j++) {
for (int j = 0; j < BODY_TYPE_OTHERS; j++) {
for (int k = 0; k < g_jointLinkCnt[j]; k++) {
joints_[i][j][k] = jointsList[j][k];
}
}
for (int j = 0; j < g_jointLinkCnt[BODY_TYPE_OTHERS]; j++) {
joints_[i][BODY_TYPE_OTHERS][j] = 0;
}
}
InitPolyhedrons(urdf_model);
InitPolyhedronsList();
UpdateArmPolyhedrons();
}
CollisionSimulator::CollisionSimulator(std::string urdf_string, float **jointsList, KinematicsManager **trajectory)
CollisionSimulator::CollisionSimulator(std::string urdf_string, std::string srdf_string, float **jointsList, KinematicsManager **trajectory)
{
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "CollisionSimulator: 初始化机械臂碰撞检测模块...");
urdf::Model urdf_model;
@@ -200,55 +323,23 @@ CollisionSimulator::CollisionSimulator(std::string urdf_string, float **jointsLi
return;
}
InitCollisionSimulator(urdf_model, jointsList, trajectory);
InitLinkCollisionDetectMatrix(srdf_string);
}
CollisionSimulator::CollisionSimulator(std_msgs::msg::String::SharedPtr urdf_string_ptr, float **jointsList, KinematicsManager **trajectory)
CollisionSimulator::~CollisionSimulator()
{
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "CollisionSimulator: 初始化机械臂碰撞检测模块...");
std::string urdf_string = urdf_string_ptr->data;
// 解析URDF模型
urdf::Model urdf_model;
simpleUpdateIndex_ = 0;
if (!urdf_model.initString(urdf_string)) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "无法解析URDF模型");
return;
}
InitCollisionSimulator(urdf_model, jointsList, trajectory);
}
void CollisionSimulator::InitArmSinglePolyhedron(int index, Polyhedron *poly,
Vector3d &origin, const Vector3d &offset, const Matrix3d &rotation)
{
float length = collision_structures_[index].dimensions[0]; // 长度（沿u方向）
float width = collision_structures_[index].dimensions[1]; // 宽度（沿v方向）
float height = collision_structures_[index].dimensions[2]; // 高度（沿法向量方向）
Vector3d lenVec = rotation * Vector3d(length, 0, 0); // 长度方向
Vector3d widVec = rotation * Vector3d(0, width, 0); // 宽度方向
Vector3d heiVec = rotation * Vector3d(0, 0, height); // 高度方向
Vector3d bottomLeft = rotation * offset + origin;
(*poly)[0] = bottomLeft;
(*poly)[1] = bottomLeft + lenVec;
(*poly)[2] = bottomLeft + widVec;
(*poly)[3] = (*poly)[1] + widVec;
(*poly)[4] = bottomLeft + heiVec;
(*poly)[5] = (*poly)[1] + heiVec;
(*poly)[6] = (*poly)[2] + heiVec;
(*poly)[7] = (*poly)[3] + heiVec;
if (index < BASE - 1) {
origin = origin + rotation * g_origin[index + 1];
if (g_linkCollisionDetectMatrix != nullptr) {
delete[] g_linkCollisionDetectMatrix;
g_linkCollisionDetectMatrix = nullptr;
}
}
static int CheckCollisionInner(std::vector<OBB> *addedOBBs, std::vector<OBB> *addedOBBsNext_)
int CollisionSimulator::CheckCollisionInner(std::vector<OBB> *addedOBBs, std::vector<OBB> *addedOBBsNext_)
{
for (int i = g_linkStartIndex[LEFT_ARM_ORIGIN]; i < g_linkStartIndex[OTHER_ORIGIN]; ++i) {
for (int j = i + 1; j < BASE; ++j) {
if (!g_linkCollisionDetecMatrix[i][j]) {
int result = OK;
for (int i = 0; i < maxObbCnt; ++i) {
for (int j = i + 1; j < maxObbCnt; ++j) {
if (!g_linkCollisionDetectMatrix[i * maxObbCnt + j]) {
continue;
}
bool inCollision = gjk_interface::checkOBBCollision((*addedOBBsNext_)[i], (*addedOBBsNext_)[j]);
@@ -263,185 +354,83 @@ static int CheckCollisionInner(std::vector<OBB> *addedOBBs, std::vector<OBB> *ad
}
}
}
return OK;
return result;
}
std::pair<Vector3d, Matrix3d> CollisionSimulator::GetBodyTransform(int startIndex)
void CollisionSimulator::UpdatePolyhedrons(int bodyType, int simple)
{
Vector3d offset_vec;
Matrix3d rotation = Matrix3d::Identity();
std::stack <int> indexStack;
int bodyIndex = startIndex;
while (bodyIndex != ROOT) {
indexStack.push(bodyIndex);
bodyIndex = jointMap_[bodyIndex].parent_link;
}
while (!indexStack.empty()) {
int currentIndex = indexStack.top();
indexStack.pop();
if (jointMap_[currentIndex].type == urdf::Joint::FIXED) {
offset_vec = offset_vec + rotation * g_origin[currentIndex];
} else if (jointMap_[currentIndex].type == urdf::Joint::REVOLUTE) {
double angleRad = toRadians(jointMap_[currentIndex].angle);
rotation = AngleAxisd(angleRad, rotation * g_dir[currentIndex]) * rotation;
offset_vec = offset_vec + rotation * g_origin[currentIndex];
} else if (jointMap_[currentIndex].type == urdf::Joint::PRISMATIC) {
double displacement = jointMap_[currentIndex].angle;
offset_vec = offset_vec + rotation * (g_origin[currentIndex] + g_dir[currentIndex] * displacement);
int linkIndex = g_linkStartIndex[bodyType];
CollisionStructureInfo *colStruct = &collision_structures_[linkIndex];
std::vector<JointsInfo *> jointList;
int index = 0;
int maxJointCount = 0;
while (colStruct->joint_count > 0 || index < maxJointCount) {
for (int i = 0; i < colStruct->joint_count; i++) {
jointList.push_back(&colStruct->joint_list[i]);
maxJointCount++;
}
}
return { offset_vec, rotation };
}
JointsInfo *jointInfo = jointList[index];
Quaterniond rotation = colStruct->rotation[simple];
Vector3d offset = colStruct->offset[simple];
index++;
linkIndex = jointInfo->child_link;
colStruct = &collision_structures_[linkIndex];
void CollisionSimulator::UpdatePolyhedrons(int startLinkIndex, int endLinkIndex, int simple, float *jointList)
{
std::vector<Polyhedron> *armPolyhedrons = &(polyhedrons_[simple]);
auto [offset_vec, rotation] = GetBodyTransform(startLinkIndex);
for (int i = startLinkIndex + 1; i < endLinkIndex; i++) {
double angleRad = toRadians(jointList[i - startLinkIndex - 1]);
rotation = AngleAxisd(angleRad, rotation * g_dir[i]) * rotation;
InitArmSinglePolyhedron(i, &(*armPolyhedrons)[i],
offset_vec,
g_offset[i],
rotation);
addedOBBs_[simple][i] = gjk_interface::createOBBFromVertices((*armPolyhedrons)[i],
collision_structures_[i].dimensions[0],
collision_structures_[i].dimensions[1],
collision_structures_[i].dimensions[2]);
if (jointInfo->type == urdf::Joint::REVOLUTE) {
double angleRad = toRadians(jointInfo->angle[simple][0]);
rotation = AngleAxisd(angleRad, rotation * jointInfo->axis) * rotation;
} else if (jointInfo->type == urdf::Joint::PRISMATIC) {
double displacement = jointInfo->angle[simple][0];
offset = offset + rotation * jointInfo->axis * displacement;
}
offset = offset + rotation * jointInfo->nextLinkOffset;
colStruct->rotation[simple] = rotation;
colStruct->offset[simple] = offset;
for (int i = 0; i < colStruct->obbModelList.size(); i++) {
int obbIndex = colStruct->obbLinkIndexList[i];
addedOBBs_[simple][obbIndex] = gjk_interface::updateOBBFromPoints(colStruct->obbModelList[i],
offset,
rotation);
}
}
}
void CollisionSimulator::InitPolyhedronsList()
{
for (int i = 0; i < COLLISION_CHECK_SIMPLE_CNT; i++) {
polyhedrons_[i].resize(BASE);
addedOBBs_[i].resize(BASE);
polyhedrons_[i][BASE].clear();
UpdatePolyhedrons(BODY_TYPE_OTHERS, i);
}
/*RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "origin:");
for (int i = 0; i < BASE; ++i) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%d: %.4f %.4f %.4f", i, g_origin[i].x(), g_origin[i].y(), g_origin[i].z());
}
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "offset:");
for (int i = 0; i < BASE; ++i) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%d: %.4f %.4f %.4f", i, g_offset[i].x(), g_offset[i].y(), g_offset[i].z());
}*/
for (int simple = 0; simple < COLLISION_CHECK_SIMPLE_CNT; simple++) {
for (int i = 0; i < BASE; i++) {
for (int j = 0; j < POLYHEDRONS_POINTS_CNT; j++) {
polyhedrons_[simple][i].push_back(Vector3d(0, 0, 0));
}
}
}
for (int simple = 0; simple < COLLISION_CHECK_SIMPLE_CNT; simple++) {
std::vector<Polyhedron> *armPolyhedrons = &(polyhedrons_[simple]);
Vector3d offset_temp = {0, 0 ,0};
Vector3d origin_point_offset = {0, 0 ,0};
if (collision_structures_[ROOT].geometry_type == "box") {
origin_point_offset = Vector3d(-collision_structures_[ROOT].dimensions[0] / 2,
-collision_structures_[ROOT].dimensions[1] / 2,
-collision_structures_[ROOT].dimensions[2] / 2);
} else if (collision_structures_[ROOT].geometry_type == "mesh") {
origin_point_offset = Vector3d(collision_structures_[ROOT].mesh_bounds[0],
collision_structures_[ROOT].mesh_bounds[2],
collision_structures_[ROOT].mesh_bounds[4]);
}
Matrix3d rotation = Matrix3d::Identity();
InitArmSinglePolyhedron(ROOT, &(*armPolyhedrons)[ROOT],
offset_temp,
origin_point_offset,
rotation);
addedOBBs_[simple][ROOT] = gjk_interface::createOBBFromVertices((*armPolyhedrons)[ROOT],
collision_structures_[ROOT].dimensions[0],
collision_structures_[ROOT].dimensions[1],
collision_structures_[ROOT].dimensions[2]);
Vector3d offset_vec = g_origin[LEFT];
for (int i = LEFT; i < RIGHT; i++) {
InitArmSinglePolyhedron(i, &(*armPolyhedrons)[i],
offset_vec,
g_offset[i],
rotation);
addedOBBs_[simple][i] = gjk_interface::createOBBFromVertices((*armPolyhedrons)[i],
collision_structures_[i].dimensions[0],
collision_structures_[i].dimensions[1],
collision_structures_[i].dimensions[2]);
}
offset_vec = g_origin[RIGHT];
for (int i = RIGHT; i < BASE; i++) {
InitArmSinglePolyhedron(i, &(*armPolyhedrons)[i],
offset_vec,
g_offset[i],
rotation);
addedOBBs_[simple][i] = gjk_interface::createOBBFromVertices((*armPolyhedrons)[i],
collision_structures_[i].dimensions[0],
collision_structures_[i].dimensions[1],
collision_structures_[i].dimensions[2]);
}
}
for (int i = LEFT_ARM_ORIGIN; i < BASE; ++i) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Link %d polyhedron points:", i);
for (int j = 0; j < POLYHEDRONS_POINTS_CNT; ++j) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%d: %.4f %.4f %.4f", j,
polyhedrons_[0][i][j].x(),
polyhedrons_[0][i][j].y(),
polyhedrons_[0][i][j].z());
}
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "---------------------");
for (int i = 0; i < maxObbCnt; i++) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "InitPolyhedronsList obb %d: center(%.2f, %.2f, %.2f), axis1(%.2f, %.2f, %.2f), axis2(%.2f, %.2f, %.2f), axis3(%.2f, %.2f, %.2f), half_lengths(%.2f, %.2f, %.2f)",
i,
addedOBBs_[0][i].center.x(), addedOBBs_[0][i].center.y(), addedOBBs_[0][i].center.z(),
addedOBBs_[0][i].axis[0].x(), addedOBBs_[0][i].axis[0].y(), addedOBBs_[0][i].axis[0].z(),
addedOBBs_[0][i].axis[1].x(), addedOBBs_[0][i].axis[1].y(), addedOBBs_[0][i].axis[1].z(),
addedOBBs_[0][i].axis[2].x(), addedOBBs_[0][i].axis[2].y(), addedOBBs_[0][i].axis[2].z(),
addedOBBs_[0][i].halfExtent[0], addedOBBs_[0][i].halfExtent[1], addedOBBs_[0][i].halfExtent[2]);
}
}
void CollisionSimulator::UpdateArmPolyhedrons()
int CollisionSimulator::CheckCollision()
{
std::vector<Polyhedron> *armPolyhedrons = &(polyhedrons_[simpleUpdateIndex_]);
UpdatePolyhedrons(LEFT_ARM_UPDATE_ORIGIN, RIGHT_ARM_ORIGIN, simpleUpdateIndex_,
joints_[simpleUpdateIndex_][BODY_TYPE_LEFT_ARM]);
UpdatePolyhedrons(RIGHT_ARM_UPDATE_ORIGIN, OTHER_ORIGIN, simpleUpdateIndex_,
joints_[simpleUpdateIndex_][BODY_TYPE_RIGHT_ARM]);
/*for (int i = LEFT; i <= BASE; ++i) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Link %d polyhedron points:", i);
for (int j = 0; j < POLYHEDRONS_POINTS_CNT; ++j) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%d: %.4f %.4f %.4f", j,
polyhedrons_[0][i][j].x(),
polyhedrons_[0][i][j].y(),
polyhedrons_[0][i][j].z());
}
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "---------------------");
for (int bodyType = 0; bodyType < BODY_CNT; bodyType++) {
float *jointList = joints_[simpleUpdateIndex_][bodyType];
trajectory_[bodyType]->getAngleForChecking(jointList);
}
for (int i = LEFT; i <= BASE; i++) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "OBB: center(%.4f, %.4f, %.4f), axis1(%.4f, %.4f, %.4f), axis2(%.4f, %.4f, %.4f), axis3(%.4f, %.4f, %.4f), "
"half_length(%.4f, %.4f, %.4f)",
addedOBBs_[simple][i].center.x(),
addedOBBs_[simple][i].center.y(),
addedOBBs_[simple][i].center.z(),
addedOBBs_[simple][i].axis[0].x(),
addedOBBs_[simple][i].axis[0].y(),
addedOBBs_[simple][i].axis[0].z(),
addedOBBs_[simple][i].axis[1].x(),
addedOBBs_[simple][i].axis[1].y(),
addedOBBs_[simple][i].axis[1].z(),
addedOBBs_[simple][i].axis[2].x(),
addedOBBs_[simple][i].axis[2].y(),
addedOBBs_[simple][i].axis[2].z(),
addedOBBs_[simple][i].halfExtent[0],
addedOBBs_[simple][i].halfExtent[1],
addedOBBs_[simple][i].halfExtent[2]);
if (CheckJointsAngleLimit(simpleUpdateIndex_, BODY_TYPE_OTHERS) != 0) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "CheckCollision joints limit error.");
return ARM_AIM_CANNOT_REACH;
}
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "left joints: %.2f, %.2f, %.2f, %.2f, %.2f, %.2f",
leftArmJoints_[simple][0],
leftArmJoints_[simple][1],
leftArmJoints_[simple][2],
leftArmJoints_[simple][3],
leftArmJoints_[simple][4],
leftArmJoints_[simple][5]);*/
UpdatePolyhedrons(BODY_TYPE_OTHERS, simpleUpdateIndex_);
int lastSimpleIndex = (simpleUpdateIndex_ + COLLISION_CHECK_SIMPLE_CNT - 1) % COLLISION_CHECK_SIMPLE_CNT;
std::vector<OBB> *addedOBBsNext_ = &(addedOBBs_[simpleUpdateIndex_]);
std::vector<OBB> *addedOBBs = &(addedOBBs_[lastSimpleIndex]);
int result = CheckCollisionInner(addedOBBs, addedOBBsNext_);
simpleUpdateIndex_ = (simpleUpdateIndex_ + 1) % COLLISION_CHECK_SIMPLE_CNT;
return result;
}
int CollisionSimulator::AddPolyhedron(int id, const Polyhedron& poly)
@@ -463,19 +452,30 @@ int CollisionSimulator::RemovePolyhedron(int id)
return -1; // 未找到对应ID的多面体
}
int CollisionSimulator::CheckJointsAngleLimit(float *joints, int bodyType)
int CollisionSimulator::CheckJointsAngleLimit(int simple, int bodyType)
{
for (int i = 0; i < g_jointLinkCnt[bodyType]; ++i) {
JointInfo *joint = &(jointMap_[g_linkStartIndex[bodyType] + i]);
float angle = toRadians(joints[i]);
if (angle < joint->limit_lower || angle > joint->limit_upper) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()),
"CheckJointsAngleLimit: joint out of limit [%.4f, %.4f], current: %.4f(%.2f)",
joint->limit_lower, joint->limit_upper, angle, joints[i]);
CollisionStructureInfo *colStruct = &collision_structures_[g_linkStartIndex[bodyType]];
std::vector<JointsInfo *> jointList;
int index = 0;
int maxJointCount = 0;
while (colStruct->joint_count > 0 || index < maxJointCount) {
for (int i = 0; i < colStruct->joint_count; i++) {
jointList.push_back(&colStruct->joint_list[i]);
maxJointCount++;
}
JointsInfo *jointInfo = jointList[index];
if (jointInfo->angle[simple][0] < jointInfo->limit_lower || jointInfo->angle[simple][0] > jointInfo->limit_upper) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Joint %s angle limit error: %.2f not in [%.2f, %.2f]",
jointInfo->name.c_str(),
jointInfo->angle[simple][0],
jointInfo->limit_lower,
jointInfo->limit_upper);
return ARM_AIM_CANNOT_REACH;
}
index++;
colStruct = &collision_structures_[jointInfo->child_link];
}
return 0;
return OK;
}
int CollisionSimulator::UpdateCollisionForNewGoal(int bodyType)
@@ -484,19 +484,18 @@ int CollisionSimulator::UpdateCollisionForNewGoal(int bodyType)
int simple20 = (simpleUpdateIndex_ + 1) % COLLISION_CHECK_SIMPLE_CNT;
int simple40 = (simple20 + 1) % COLLISION_CHECK_SIMPLE_CNT;
int startLinkIndex = g_linkStartIndex[bodyType], endLinkIndex = startLinkIndex + g_jointLinkCnt[bodyType];
KinematicsManager *trajectory = trajectory_[bodyType];
float *jointList20 = joints_[simple20][bodyType];
float *jointList40 = joints_[simple40][bodyType];
trajectory->getAngleForStarting(jointList20);
trajectory->getAngleForChecking(jointList40);
if (CheckJointsAngleLimit(jointList20, bodyType) != 0 || CheckJointsAngleLimit(jointList40, bodyType) != 0) {
if (CheckJointsAngleLimit(simple20, bodyType) != 0 || CheckJointsAngleLimit(simple40, bodyType) != 0) {
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "AngleDirectMove joints limit error.");
return ARM_AIM_CANNOT_REACH;
}
UpdatePolyhedrons(startLinkIndex, endLinkIndex, simple20, jointList20);
UpdatePolyhedrons(bodyType, simple20);
std::vector<OBB> *addedOBBsNext_ = &(addedOBBs_[simple20]);
std::vector<OBB> *addedOBBs = &(addedOBBs_[simpleUpdateIndex_]);
int result = CheckCollisionInner(addedOBBs, addedOBBsNext_);
@@ -505,7 +504,7 @@ int CollisionSimulator::UpdateCollisionForNewGoal(int bodyType)
return result;
}
UpdatePolyhedrons(startLinkIndex, endLinkIndex, simple40, jointList40);
UpdatePolyhedrons(bodyType, simple40);
addedOBBsNext_ = &(addedOBBs_[simple40]);
addedOBBs = &(addedOBBs_[simple20]);
result = CheckCollisionInner(addedOBBs, addedOBBsNext_);
@@ -515,72 +514,3 @@ int CollisionSimulator::UpdateCollisionForNewGoal(int bodyType)
}
return 0;
}
#include <rclcpp/rclcpp.hpp>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/collision_detection/collision_common.h>
int main(int argc, char**argv) {
// 初始化 ROS 节点
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("moveit_collision_demo");
// --------------------------
// 步骤1：加载机器人模型，创建 PlanningScene
// --------------------------
// 加载机器人模型（需在 launch 文件中加载 URDF 和 SRDF）
robot_model_loader::RobotModelLoader robot_model_loader(node, "robot_description");
const moveit::core::RobotModelPtr& robot_model = robot_model_loader.getModel();
// 创建 PlanningScene（管理碰撞环境）
planning_scene::PlanningScene planning_scene(robot_model);
// --------------------------
// 步骤3：定义机器人姿态（待检测的状态）
// --------------------------
moveit::core::RobotState& robot_state = planning_scene.getCurrentStateNonConst();
const moveit::core::JointModelGroup* joint_model_group = robot_state.getJointModelGroup("panda_arm"); // 机械臂组名称（需替换为你的机器人）
// 设置关节角度（示例：Panda 机械臂的一个姿态）
std::vector<double> joint_values = {0.0, 0.5, 0.0, -1.5, 0.0, 1.0, 0.0};
robot_state.setJointGroupPositions(joint_model_group, joint_values);
robot_state.update(); // 更新机器人状态
// --------------------------
// 步骤4：调用碰撞检测接口
// --------------------------
// 定义碰撞检测请求（设置需要的结果类型）
collision_detection::CollisionRequest collision_request;
collision_request.contacts = true; // 是否返回接触信息（如碰撞点、法向量）
collision_request.max_contacts = 10; // 最大返回接触对数量
collision_request.max_contacts_per_pair = 3; // 每对碰撞体的最大接触点数量
collision_request.verbose = false; // 是否输出详细信息
// 存储碰撞检测结果
collision_detection::CollisionResult collision_result;
// 执行碰撞检测（检测机器人当前状态是否碰撞）
planning_scene.checkCollision(collision_request, collision_result);
// --------------------------
// 步骤5：处理碰撞结果
// --------------------------
if (collision_result.collision) {
RCLCPP_WARN(node->get_logger(), "检测到碰撞！");
// 输出碰撞对信息（机器人关节/链接与障碍物的碰撞）
for (const auto& contact : collision_result.contacts) {
RCLCPP_INFO(node->get_logger(), "碰撞对: %s 与 %s",
contact.first.first.c_str(), // 第一个碰撞体ID
contact.first.second.c_str()); // 第二个碰撞体ID
}
} else {
RCLCPP_INFO(node->get_logger(), "未检测到碰撞。");
}
// 关闭节点
rclcpp::shutdown();
return 0;
}

3
rm_arm_control/simulator/rm_arm_simulator.cpp
View File

@@ -522,7 +522,6 @@ static bool GetMeshDimensions(const std::string& filename, CollisionStructure& c
col_struct.dimensions[0], col_struct.dimensions[1], col_struct.dimensions[2]);
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "边界盒: x(%.4f, %.4f), y(%.4f, %.4f), z(%.4f, %.4f)",
min_x, max_x, min_y, max_y, min_z, max_z);
// 释放网格资源
delete mesh;
return true;
@@ -691,7 +690,7 @@ static int UpdateJointInfo(int i, int parent, Quaterniond &rotation, std::map<in
rotation = rotation * jointPair->second.rotation;
jointPair->second.rotationAll = rotation;
Eigen::Vector3d axis = jointPair->second.axis;
Vector3d axis = jointPair->second.axis;
g_dir[i] = rotation * axis;
return 0;
}

44
rm_arm_control/src/rm_arm_node.cpp
View File

@@ -1,8 +1,10 @@
#include "arm_define.h"
#include "rm_arm_simulator.hpp"
#include "rm_arm_node.hpp"
#include "col_simulator.hpp"
static ArmSimulator *armSimulator_;
static CollisionSimulator *colSimulator_;
using ArmGoalSharedPtr =
std::shared_ptr<const interfaces::action::Arm::Goal>;
@@ -132,6 +134,12 @@ RmArmNode::RmArmNode(ArmDriver *armDriver, Kinematics *kinematics) : Node("rm_ar
std::bind(&RmArmNode::ArmActionCancel, this, std::placeholders::_1),
std::bind(&RmArmNode::ArmActionAccepted, this, std::placeholders::_1));
this->declare_parameter<std::string>("robot_description_semantic", "");
std::string srdf_string = this->get_parameter("robot_description_semantic").as_string();
if (srdf_string == "") {
throw std::runtime_error("robot_description_semantic parameter is not valid.");
}
this->declare_parameter<std::string>("robot_description", "");
std::string urdf_string = this->get_parameter("robot_description").as_string();
/*leftArmHandler_->nowJoints_[0] = 180.0;
@@ -149,6 +157,10 @@ RmArmNode::RmArmNode(ArmDriver *armDriver, Kinematics *kinematics) : Node("rm_ar
armSimulator_ = new ArmSimulator(urdf_string, leftArmHandler_->nowJoints_, rightArmHandler_->nowJoints_,
leftArmHandler_->trapezoidalTrajectory_, rightArmHandler_->trapezoidalTrajectory_);
robotDescriptionSub_ = NULL;
/*colSimulator_ = new CollisionSimulator(urdf_string, srdf_string,
(float**)(std::vector<float*>{leftArmHandler_->nowJoints_, rightArmHandler_->nowJoints_}.data()),
(KinematicsManager**)(std::vector<KinematicsManager*>{leftArmHandler_->trapezoidalTrajectory_, rightArmHandler_->trapezoidalTrajectory_}.data()));*/
} else {
armSimulator_ = NULL;
robotDescriptionSub_ = this->create_subscription<std_msgs::msg::String>
@@ -176,9 +188,9 @@ void RmArmNode::CallbackGetRobotDescription(const std_msgs::msg::String::SharedP
armStates.name = {
"left_behind_hip_joint","left_behind_leg_joint","left_behind_wheel_joint","right_behind_hip_joint",
"right_behind_leg_joint","right_behind_wheel_joint","body_joint","body_2_joint","head_joint",
"left_shoulder_joint","left_arm_1_joint","left_arm_2_joint","left_arm_3_joint","left_arm_4_joint",
"left_wrist_joint","right_joint1","right_joint2","right_joint3","right_joint4",
"right_joint5","right_joint6","left_front_roll_joint","left_front_hip_joint","left_front_knee_joint",
"left_joint1","left_joint2","left_joint3","left_joint4","left_joint5", "left_joint6",
"right_joint1","right_joint2","right_joint3","right_joint4","right_joint5", "right_joint6",
"left_front_roll_joint","left_front_hip_joint","left_front_knee_joint",
"left_front_wheel_joint","right_front_roll_joint","right_front_hip_joint","right_front_knee_joint","right_front_wheel_joint"};
armStates.position.resize(JOINT_ALL_CNT, 0.0);
armStates.header.frame_id = "base_link";
@@ -361,8 +373,12 @@ void RmArmNode::ArmActionCheck()
rclcpp::Time startTime = get_clock()->now();
int64_t nextCheckPoint = startTime.nanoseconds() + ARM_FOLLOWING_CHECKING;
struct timespec timeout;
timeout.tv_sec = 0;
timeout.tv_nsec = ARM_FOLLOWING_CHECKING; // 20 milliseconds
clock_gettime(CLOCK_REALTIME, &timeout);
timeout.tv_nsec += ARM_FOLLOWING_CHECKING;
if (timeout.tv_nsec >= 1e9) {
timeout.tv_sec += timeout.tv_nsec / (int64_t)(1e9);
timeout.tv_nsec = timeout.tv_nsec % (int64_t)(1e9);
}
int step = 0;
bool busy = false;
@@ -372,11 +388,13 @@ void RmArmNode::ArmActionCheck()
while (rclcpp::ok()) {
if (!busy) {
int result = sem_timedwait(&sem_, &timeout);
if (leftArmHandler_ != NULL && (leftArmHandler_->armStatus == ARM_STATUS_READY)) {
StartNewGoal(leftArmHandler_);
}
if (rightArmHandler_ != NULL && (rightArmHandler_->armStatus == ARM_STATUS_READY)) {
StartNewGoal(rightArmHandler_);
if (result == 0) {
if (leftArmHandler_ != NULL && (leftArmHandler_->armStatus == ARM_STATUS_READY)) {
StartNewGoal(leftArmHandler_);
}
if (rightArmHandler_ != NULL && (rightArmHandler_->armStatus == ARM_STATUS_READY)) {
StartNewGoal(rightArmHandler_);
}
}
}
int64_t currentTimeNs = get_clock()->now().nanoseconds();
@@ -421,7 +439,11 @@ void RmArmNode::ArmActionCheck()
usedTime);
}
} else {
timeout.tv_nsec = nextCheckPoint - afterCheckTimeNs;
timeout.tv_nsec += nextCheckPoint - afterCheckTimeNs;
if (timeout.tv_nsec >= 1e9) {
timeout.tv_sec += timeout.tv_nsec / (int64_t)(1e9);
timeout.tv_nsec = timeout.tv_nsec % (int64_t)(1e9);
}
busy = false;
}
}