Refactor ROS2 actuator with improved CAN handling and logging
- Introduced `rclcpp::Logger` for consistent logging throughout `RbsServoActuator`. - Renamed joint state and command variables to `hw_joint_angle`, `hw_joint_velocity`, `hw_joint_target_angle`, and `hw_joint_target_velocity` for clarity. - Added parameters `can_interface` and `can_node_id`, allowing configurable CAN interface and node ID. - Enhanced CAN initialization and error handling in `on_init` to properly retrieve interface index and bind the socket. - Implemented structured CAN message handling: - Sends activation command when the actuator is enabled. - Reads and logs incoming CAN frames for joint state updates. - Ensures error handling for failed read/write operations. - Updated URDF (`simple_robot.urdf`) to include `can_interface` and `can_node_id` parameters for hardware configuration.
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3 changed files with 92 additions and 59 deletions
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@ -3,6 +3,7 @@
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// Libs for fake connection
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// WARN: Delete it in the future
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#include <netinet/in.h>
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#include <rclcpp/logger.hpp>
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#include <sys/socket.h>
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// System libs
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#include <memory>
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@ -59,10 +60,14 @@ private:
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// double hw_start_sec_;
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// double hw_stop_sec_;
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rclcpp::Logger logger_ = rclcpp::get_logger("rbs_servo_hardware");
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// Store the command for the robot
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double hw_joint_command_;
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double hw_joint_target_angle_;
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double hw_joint_target_velocity_;
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// Store the states for the robot
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double hw_joint_state_;
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double hw_joint_angle_;
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double hw_joint_velocity_;
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// Fake "mechanical connection" between actuator and sensor using sockets
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// struct sockaddr_in address_;
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@ -70,7 +75,8 @@ private:
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// int sockoptval_ = 1;
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// int sock_;
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std::string can_interface_ = "can0";
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std::string can_interface_;
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int can_node_id_;
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int can_socket_;
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};
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@ -7,17 +7,19 @@
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#include <cmath>
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#include <limits>
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#include <memory>
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#include <rclcpp_lifecycle/state.hpp>
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#include <vector>
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// ROS specific libs
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#include "hardware_interface/actuator_interface.hpp"
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#include "hardware_interface/types/hardware_interface_return_values.hpp"
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#include "hardware_interface/types/hardware_interface_type_values.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include <rclcpp/logger.hpp>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <sys/socket.h>
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#include <sys/ioctl.h>
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#include <net/if.h>
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#include <rclcpp/logger.hpp>
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#include <sys/ioctl.h>
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#include <sys/socket.h>
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#include <unistd.h>
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namespace rbs_servo_hardware {
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@ -28,26 +30,29 @@ RbsServoActuator::on_init(const hardware_interface::HardwareInfo &info) {
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return hardware_interface::CallbackReturn::ERROR;
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}
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hw_joint_command_ = std::numeric_limits<double>::quiet_NaN();
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hw_joint_target_angle_ = std::numeric_limits<double>::quiet_NaN();
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can_interface_ = info_.hardware_parameters["can_interface"];
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can_node_id_ = stoi(info_.hardware_parameters["can_node_id"]);
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const hardware_interface::ComponentInfo &joint = info_.joints[0];
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// RbsServoActuator has exactly one command interface and one joint
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if (joint.command_interfaces.size() != 1) {
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RCLCPP_FATAL(rclcpp::get_logger("RbsServoActuator"),
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RCLCPP_FATAL(logger_,
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"Joint '%s' has %zu command interfaces found. 1 expected.",
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joint.name.c_str(), joint.command_interfaces.size());
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return hardware_interface::CallbackReturn::ERROR;
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}
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if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION) {
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RCLCPP_FATAL(rclcpp::get_logger("RbsServoActuator"),
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RCLCPP_FATAL(logger_,
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"Joint '%s' have %s command interfaces found. '%s' expected.",
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joint.name.c_str(), joint.command_interfaces[0].name.c_str(),
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hardware_interface::HW_IF_POSITION);
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return hardware_interface::CallbackReturn::ERROR;
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} else if (joint.state_interfaces[0].name !=
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hardware_interface::HW_IF_POSITION) {
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RCLCPP_FATAL(rclcpp::get_logger("RbsServoActuator"),
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RCLCPP_FATAL(logger_,
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"Joint '%s' have %s state interface found. '%s' expected.",
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joint.name.c_str(), joint.state_interfaces[0].name.c_str(),
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hardware_interface::HW_IF_POSITION);
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@ -55,8 +60,7 @@ RbsServoActuator::on_init(const hardware_interface::HardwareInfo &info) {
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}
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if ((can_socket_ = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
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RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"),
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"Failed to create CAN socket");
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RCLCPP_ERROR(logger_, "Failed to create CAN socket");
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return hardware_interface::CallbackReturn::ERROR;
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}
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@ -64,8 +68,7 @@ RbsServoActuator::on_init(const hardware_interface::HardwareInfo &info) {
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strncpy(ifr.ifr_name, can_interface_.c_str(), IFNAMSIZ - 1);
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ifr.ifr_name[IFNAMSIZ - 1] = '\0';
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if (ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) {
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RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"),
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"Failed to get interface index");
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RCLCPP_ERROR(logger_, "Failed to get interface index");
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return hardware_interface::CallbackReturn::ERROR;
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}
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@ -73,7 +76,7 @@ RbsServoActuator::on_init(const hardware_interface::HardwareInfo &info) {
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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if (bind(can_socket_, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"), "Failed to bind CAN socket");
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RCLCPP_ERROR(logger_, "Failed to bind CAN socket");
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return hardware_interface::CallbackReturn::ERROR;
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}
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@ -85,14 +88,20 @@ RbsServoActuator::on_init(const hardware_interface::HardwareInfo &info) {
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// server->h_length);
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// address_.sin_port = htons(socket_port_);
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// RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
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// RCLCPP_INFO(logger_,
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// "Trying to connect to port %d.", socket_port_);
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// if (connect(sock_, (struct sockaddr *)&address_, sizeof(address_)) < 0) {
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// RCLCPP_FATAL(rclcpp::get_logger("RbsServoActuator"),
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// RCLCPP_FATAL(logger_,
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// "Connection over socket failed.");
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// return hardware_interface::CallbackReturn::ERROR;
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// }
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RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "Connected to socket");
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RCLCPP_INFO(logger_, "Connected to socket");
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return hardware_interface::CallbackReturn::SUCCESS;
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}
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hardware_interface::CallbackReturn
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on_configure(const rclcpp_lifecycle::State & /*previous_state*/) {
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return hardware_interface::CallbackReturn::SUCCESS;
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}
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@ -110,7 +119,7 @@ RbsServoActuator::export_state_interfaces() {
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state_interfaces.emplace_back(hardware_interface::StateInterface(
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info_.joints[0].name, hardware_interface::HW_IF_POSITION,
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&hw_joint_state_));
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&hw_joint_angle_));
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return state_interfaces;
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}
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@ -121,7 +130,7 @@ RbsServoActuator::export_command_interfaces() {
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command_interfaces.emplace_back(hardware_interface::CommandInterface(
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info_.joints[0].name, hardware_interface::HW_IF_POSITION,
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&hw_joint_command_));
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&hw_joint_target_angle_));
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return command_interfaces;
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}
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@ -130,24 +139,31 @@ hardware_interface::CallbackReturn RbsServoActuator::on_activate(
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const rclcpp_lifecycle::State & /*previous_state*/) {
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// START: This part here is for exemplary purposes - Please do not copy to
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// your production code
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RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
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"Activating ...please wait...");
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// for (int i = 0; i < hw_start_sec_; i++) {
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// rclcpp::sleep_for(std::chrono::seconds(1));
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// RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "%.1f seconds
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// left...",
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// hw_start_sec_ - i);
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// }
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// END: This part here is for exemplary purposes - Please do not copy to your
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// production code
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RCLCPP_INFO(logger_, "Activating ...please wait...");
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// set some default values for joints
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if (std::isnan(hw_joint_command_)) {
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hw_joint_command_ = 0;
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hw_joint_state_ = 0;
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if (std::isnan(hw_joint_target_angle_)) {
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hw_joint_target_angle_ = 0;
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hw_joint_angle_ = 0;
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}
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// Создание CAN-кадра для включения двигателя
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struct can_frame frame;
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frame.can_id = can_node_id_; // Идентификатор сообщения (замените на ваш ID)
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frame.can_dlc = 2; // Длина данных (1 байт для флага + 1 байт для значения)
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frame.data[0] = 'E'; // Флаг для команды управления двигателем
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frame.data[1] = true; // Значение для включения двигателя (true -> 0x01)
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// Отправка сообщения
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if (::write(can_socket_, &frame, sizeof(frame)) != sizeof(frame)) {
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RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"),
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"Failed to send CAN frame for motor activation");
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return hardware_interface::CallbackReturn::ERROR;
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}
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RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
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"Motor activation command sent successfully");
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RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
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"Successfully activated!");
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@ -158,18 +174,16 @@ hardware_interface::CallbackReturn RbsServoActuator::on_deactivate(
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const rclcpp_lifecycle::State & /*previous_state*/) {
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// START: This part here is for exemplary purposes - Please do not copy to
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// your production code
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RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
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"Deactivating ...please wait...");
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RCLCPP_INFO(logger_, "Deactivating ...please wait...");
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// for (int i = 0; i < hw_stop_sec_; i++) {
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// rclcpp::sleep_for(std::chrono::seconds(1));
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// RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "%.1f seconds
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// RCLCPP_INFO(logger_, "%.1f seconds
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// left...",
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// hw_stop_sec_ - i);
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// }
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RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"),
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"Successfully deactivated!");
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RCLCPP_INFO(logger_, "Successfully deactivated!");
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// END: This part here is for exemplary purposes - Please do not copy to your
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// production code
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close(can_socket_);
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@ -179,40 +193,51 @@ hardware_interface::CallbackReturn RbsServoActuator::on_deactivate(
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hardware_interface::return_type
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RbsServoActuator::read(const rclcpp::Time & /*time*/,
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const rclcpp::Duration & /*period*/) {
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struct can_frame frame;
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if (::read(can_socket_, &frame, sizeof(frame)) != sizeof(frame)) {
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RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"), "Failed to read CAN frame");
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} else {
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// Чтение кадров в цикле
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while (::read(can_socket_, &frame, sizeof(frame)) == sizeof(frame)) {
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// Проверка флага 'A'
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if (frame.data[0] == 'A') {
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// Извлекаем угол
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float angle;
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std::memcpy(&angle, &frame.data[1], sizeof(float));
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RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "Received CAN frame: angle=%f rad", angle);
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hw_joint_state_ = static_cast<double>(angle);
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// Логируем полученный угол
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RCLCPP_DEBUG(logger_, "Received CAN frame with angle: %f rad", angle);
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// Обновляем состояние сустава
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hw_joint_angle_ = static_cast<double>(angle);
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return hardware_interface::return_type::OK;
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} else {
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// Игнорирование кадров с другими флагами
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RCLCPP_DEBUG(logger_, "Ignoring CAN frame with unknown flag: %c",
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frame.data[0]);
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}
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}
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if (errno != EAGAIN) {
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RCLCPP_ERROR(logger_, "Failed to read CAN frame: %s", strerror(errno));
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return hardware_interface::return_type::ERROR;
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}
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return hardware_interface::return_type::OK;
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}
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hardware_interface::return_type rbs_servo_hardware::RbsServoActuator::write(
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const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) {
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// START: This part here is for exemplary purposes - Please do not copy to
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// your production code
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RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "Writing command: %f",
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hw_joint_command_);
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struct can_frame frame;
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frame.can_id = 0x2; // Replace with your desired CAN ID
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float angle = static_cast<double>(hw_joint_command_);
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frame.can_id = can_node_id_;
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float angle = static_cast<float>(hw_joint_target_angle_);
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frame.data[0] = 'A';
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std::memcpy(&frame.data[1], &angle, sizeof(float));
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frame.can_dlc = 5;
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// frame.data[speed_string.size() + 1] = '\0'
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; // You'll need to serialize speed to fit CAN frame
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if (::write(can_socket_, &frame, sizeof(frame)) != sizeof(frame)) {
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RCLCPP_ERROR(rclcpp::get_logger("RbsServoActuator"), "Failed to send CAN frame");
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RCLCPP_ERROR(logger_, "Failed to send CAN frame");
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} else {
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RCLCPP_INFO(rclcpp::get_logger("RbsServoActuator"), "Sent CAN frame: angle=%f rad", angle);
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RCLCPP_DEBUG(logger_, "Sent CAN frame: angle=%f rad", angle);
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}
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return hardware_interface::return_type::OK;
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@ -41,6 +41,8 @@
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<ros2_control name="simble_robot_hardware_interface" type="actuator">
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<hardware>
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<plugin>rbs_servo_hardware/RbsServoActuator</plugin>
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<param name="can_interface">can0</param>
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<param name="can_node_id">1</param>
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</hardware>
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<joint name="joint1">
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<command_interface name="position" />
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