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kuka_hw_interface cleanup for MultiInterfaceController usage #5

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40 changes: 16 additions & 24 deletions kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h
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Original file line number Diff line number Diff line change
@@ -1,33 +1,25 @@
#ifndef KUKA_RSI_HARDWARE_INTERFACE_WITH_FTS
#define KUKA_RSI_HARDWARE_INTERFACE_WITH_FTS

#include <force_controllers/force_controller.h>
#include <boost/shared_ptr.hpp>

#include <kuka_rsi_hw_interface/kuka_hardware_interface.h>

#include <force_torque_sensor/force_torque_sensor_handle.h>
#include <hardware_interface/force_torque_sensor_interface.h>
#include <kuka_rsi_hw_interface/kuka_hardware_interface.h>
#include <ros/console.h>
#include <boost/shared_ptr.hpp>

namespace kuka_rsi_hw_interface
{

class KukaHardwareInterfaceWithFTS : public KukaHardwareInterface
{
force_torque_control::ForceTorqueControllerInterface ftc_interface_;
// ForceTorqueSensorHandle* ftsh_;
boost::shared_ptr<hardware_interface::ForceTorqueSensorHandle> ftsh_;
ros::NodeHandle nh_;

std::string fts_name;
std::string fts_sensor_frame;
std::string fts_transform_frame;

public:
KukaHardwareInterfaceWithFTS(ros::NodeHandle nh);
// ~KukaHardwareInterfaceWithFTS();

void handleInit();
};
namespace kuka_rsi_hw_interface {

class KukaHardwareInterfaceWithFTS : public KukaHardwareInterface {

hardware_interface::ForceTorqueSensorInterface fts_interface_;
boost::shared_ptr<hardware_interface::ForceTorqueSensorHandle> ftsh_;

public:

explicit KukaHardwareInterfaceWithFTS(ros::NodeHandle nh);

};
} // namespace kuka_rsi_hw_interface

#endif
53 changes: 12 additions & 41 deletions kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp
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Original file line number Diff line number Diff line change
@@ -1,47 +1,18 @@


#include <kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h>

namespace kuka_rsi_hw_interface
{
KukaHardwareInterfaceWithFTS::KukaHardwareInterfaceWithFTS(ros::NodeHandle nh) : KukaHardwareInterface(nh)
{
if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info) )
namespace kuka_rsi_hw_interface {

KukaHardwareInterfaceWithFTS::KukaHardwareInterfaceWithFTS(ros::NodeHandle nh) : KukaHardwareInterface(nh) {
if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info))
ros::console::notifyLoggerLevelsChanged();
nh_ = nh;
nh_.param<std::string>("/fts/FTS/name", fts_name, "fts_sensor_name");
nh_.param<std::string>("/fts/Node/transform_frame", fts_transform_frame, "fts_base_link");
ROS_DEBUG_STREAM("try to register the force torque controller interface to simulation env.");
registerInterface(&ftc_interface_);
ROS_DEBUG_STREAM("successfully registered force torque controller interface");

// create a robot handle for kr5, and attach the fake sensor handle
ROS_DEBUG_STREAM("creating ForceTorqueControllerHandle");
force_torque_control::ForceTorqueControllerHandle handle("kuka_fts_controller_handle");

ROS_DEBUG_STREAM("creating ForceTorqueSensorHandle");
ftsh_.reset(new force_torque_sensor::ForceTorqueSensorHandle(nh_, fts_name, fts_transform_frame));
ROS_INFO_STREAM("ForceTorqueSensorHandle created!");

handle.addHandle(*ftsh_);
ROS_INFO("force torque sensor handle added");

std::vector<std::string> pos_names = position_joint_interface_.getNames();
for(size_t i = 0; i < pos_names.size(); i ++)
handle.addPosHandle(position_joint_interface_.getHandle(pos_names[i]));
ROS_DEBUG_STREAM("add position handle");
// TODO add velocity interface to kuka_hardware_interface.h
std::vector<std::string> vel_names = velocity_joint_interface_.getNames();
for(size_t i = 0; i < vel_names.size(); i ++)
handle.addVelHandle(velocity_joint_interface_.getHandle(vel_names[i]));
ROS_DEBUG_STREAM("add velocity handle");
// // when effort interface is supported: uncomment
// std::vector<std::string> eff_names = eff_interface_.getNames();
// for(size_t i = 0; i < eff_names.size(); i ++)
// handle.addPosHandle(eff_interface_.getHandle(eff_names[i]));
std::string fts_name, fts_transform_frame;
nh.param<std::string>("/fts/FTS/name", fts_name, "fts_sensor_name");
nh.param<std::string>("/fts/Node/transform_frame", fts_transform_frame, "fts_base_link");

ftc_interface_.registerHandle(handle);
ROS_INFO("register handle to ftc interface");
}
ftsh_.reset(new force_torque_sensor::ForceTorqueSensorHandle(nh, fts_name, fts_transform_frame));

} // namespace kuka_rsi_hw_interface
fts_interface_.registerHandle(*ftsh_);
registerInterface(&fts_interface_);
}
}