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feat:add touch grpc service API

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lgv 2025-09-01 16:24:08 +08:00
parent f0b5dfc72d
commit 9bf547c2f7
20 changed files with 336 additions and 146 deletions
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11
README.md
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@ -95,14 +95,15 @@ sudo make install
``` ```
### 5. librealsense2 install ### 5. librealsense2 2.55.1 install
```shell ```shell
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-dkms -y sudo apt-get install librealsense2-dkms=2.55.1-0~realsense.12473 -y
sudo apt-get install librealsense2-utils -y sudo apt-get install librealsense2-utils=2.55.1-0~realsense.12473 -y
sudo apt-get install librealsense2-dev -y sudo apt-get install librealsense2-dev=2.55.1-0~realsense.12473 -y
sudo apt-get install librealsense2-dbg -y sudo apt-get install librealsense2-dbg=2.55.1-0~realsense.12473 -y
``` ```
### 5. OSQPEigen install(build from source) ### 5. OSQPEigen install(build from source)

4
config/cabin_robot.xml
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@ -14,7 +14,7 @@
<!-- <UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>--> <!-- <UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
<!-- <UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>--> <!-- <UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
<!-- <RealsenseCamera id="cam3" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>--> <!-- <RealsenseCamera id="cam3" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
<RealsenseCamera id="cam4" serial="243122075614" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/> <!-- <RealsenseCamera id="cam4" serial="243122075614" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
<!-- <MechMind id="cam5" ip="10.148.108.111" align="true" _2dtype="color"/>--> <!-- <MechMind id="cam5" ip="10.148.108.111" align="true" _2dtype="color"/>-->
<!-- <RealsenseCamera id="cam6" serial="243122075389" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>--> <!-- <RealsenseCamera id="cam6" serial="243122075389" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
</Camera> </Camera>
@ -89,7 +89,7 @@
</Microphone> </Microphone>
<Speaker> <Speaker>
<ffmpegSpeaker id="spk1" serial="" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="500000" volume="80"/> <!-- <ffmpegSpeaker id="spk1" serial="" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="500000" volume="80"/>-->
</Speaker> </Speaker>
<Canbus> <Canbus>

11
include/controller/touch_controller.h
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@ -9,6 +9,8 @@
#include "devices/abstract_dexhand.h" #include "devices/abstract_dexhand.h"
#include "devices/abstract_robot.h" #include "devices/abstract_robot.h"
#include "cmvr/msgs/geometry.pb.h" #include "cmvr/msgs/geometry.pb.h"
#include "librealsense2/rs.h"
#include "librealsense2/h/rs_frame.h"
namespace cmvr { namespace cmvr {
namespace ctrl { namespace ctrl {
@ -80,9 +82,14 @@ namespace cmvr {
TouchController(){}; TouchController(){};
TouchController( std::shared_ptr<device::AbstractRobot> robot,std::shared_ptr<device::AbstractDexHand> hand) TouchController( std::shared_ptr<device::AbstractRobot> robot,std::shared_ptr<device::AbstractDexHand> hand)
:robot_(std::move(robot)),hand_(std::move(hand)), :robot_(std::move(robot)),hand_(std::move(hand)),
pid_(std::make_shared<PID>(0.05, 0.001, 0.01, 50.0, 0.5, 1.0)){} pid_(std::make_shared<PID>(0.005, 0.001, 0.001, 5000.0, 0.5, 1.0)){}
~TouchController()=default; ~TouchController()=default;
bool isArrive(double max_force);
void touch(int u,int v ,double max_force){}
void touch(std::shared_ptr<device::AbstractRobot> robot,const msgs::Pose3d pose,const msgs::Pose3d offset); void touch(std::shared_ptr<device::AbstractRobot> robot,const msgs::Pose3d pose,const msgs::Pose3d offset);
void touch( msgs::Pose3d pose, msgs::Pose3d offset,double max_force); void touch( msgs::Pose3d pose, msgs::Pose3d offset,double max_force);
@ -98,6 +105,8 @@ namespace cmvr {
// 从压阻矩阵提取触控点与压力 // 从压阻矩阵提取触控点与压力
bool extractTouch(const std::vector<std::vector<uint16_t>>& matrix,double& force, int& x, int& y); bool extractTouch(const std::vector<std::vector<uint16_t>>& matrix,double& force, int& x, int& y);
}; };
} }
} }

2
include/devices/abstract_camera.h
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@ -4,6 +4,7 @@
#include <opencv2/opencv.hpp> #include <opencv2/opencv.hpp>
#include "abstract_device.h" #include "abstract_device.h"
#include <Eigen/Core>
namespace cmvr::device { namespace cmvr::device {
struct Rs2Intrinsics struct Rs2Intrinsics
@ -58,6 +59,7 @@ namespace cmvr::device {
virtual bool startStreaming() {return true;} virtual bool startStreaming() {return true;}
virtual void stopStreaming() {} virtual void stopStreaming() {}
virtual Eigen::Vector3f get3DPointFromPixel(int u, int v) {return {0,0,0};}
protected: protected:
CameraState state_{}; CameraState state_{};
void clear_error_() { void clear_error_() {

3
include/devices/abstract_robot.h
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@ -93,6 +93,9 @@ namespace cmvr::device{
virtual void servoJ(std::vector<JointPoint> &joints, double dt) { throw std::runtime_error("Not implemented"); } virtual void servoJ(std::vector<JointPoint> &joints, double dt) { throw std::runtime_error("Not implemented"); }
virtual void servoJ(std::vector<JointPoint> &joints, double vel, double dt) { throw std::runtime_error("Not implemented"); } virtual void servoJ(std::vector<JointPoint> &joints, double vel, double dt) { throw std::runtime_error("Not implemented"); }
virtual void servoJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose,double vel = 0.1, double acc = 0.1) { throw std::runtime_error("Not implemented"); }
virtual void servoDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose,double vel = 0.1, double acc = 0.1) { throw std::runtime_error("Not implemented"); }
virtual void servoL(math::Pose3d &pose, double dt) { throw std::runtime_error("Not implemented"); } virtual void servoL(math::Pose3d &pose, double dt) { throw std::runtime_error("Not implemented"); }

8
include/service/grpc_touch_service.h → include/service/grpc_hlc_service.h
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@ -4,14 +4,14 @@
#pragma once #pragma once
#include "device_manager/device_manager.h" #include "device_manager/device_manager.h"
#include "cmvr/api/touch_service.grpc.pb.h" #include "cmvr/api/hlc_service.grpc.pb.h"
namespace cmvr { namespace cmvr {
namespace service { namespace service {
class gRPCTouchServiceImpl final : public api::TouchService::Service { class gRPCHlcServiceImpl final : public api::HlcService::Service {
public: public:
gRPCTouchServiceImpl(); gRPCHlcServiceImpl();
~gRPCTouchServiceImpl() = default; ~gRPCHlcServiceImpl() = default;
grpc::Status touch(grpc::ServerContext *context, const cmvr::api::Touch_Request *request, cmvr::api::Touch_Response *response) override; grpc::Status touch(grpc::ServerContext *context, const cmvr::api::Touch_Request *request, cmvr::api::Touch_Response *response) override;
private: private:

17
protos/cmvr/api/touch_service.proto → protos/cmvr/api/hlc_command.proto
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@ -1,15 +1,19 @@
syntax = "proto3"; syntax = "proto3";
package cmvr.api;
import "cmvr/api/common.proto";
import "cmvr/msgs/geometry.proto";
import "cmvr/api/common.proto";
package cmvr.api;
message Touch{ message Touch{
message Request{ message Request{
CommandHeader.Request header = 1; CommandHeader.Request header = 1;
cmvr.msgs.Pose3d pose = 2; // 触点坐标，unit: ms
cmvr.msgs.Pose3d offset = 3; int32 u = 2; // 水平坐标
int32 v = 3; // 垂直坐标
// 触控时允许的最大作用力，unit: N
double max_force = 4;
} }
message Response{ message Response{
@ -18,6 +22,3 @@ message Touch{
} }
service TouchService{
rpc touch(Touch.Request) returns (Touch.Response);
}

9
protos/cmvr/api/hlc_service.proto Normal file
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@ -0,0 +1,9 @@
syntax = "proto3";
import "cmvr/api/hlc_command.proto";
package cmvr.api;
service HlcService{
rpc touch(Touch.Request) returns (Touch.Response);
}

6
python/vision_servo/robot_warpper_test.py
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@ -45,12 +45,12 @@ robot = Robot("/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml", "hc01")
# robot.moveJ('right', j) # robot.moveJ('right', j)
robot.torqueOn() robot.torqueOn()
# 控制左臂关节 # 控制左臂关节
robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0]) # robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0])
# # robot.moveJ("right", [-0.344938, 0.935147, 2.27031,1.68959, -2.32841,0.460145, 0.300996]) # # robot.moveJ("right", [-0.344938, 0.935147, 2.27031,1.68959, -2.32841,0.460145, 0.300996])
# # robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0]) # # robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0])
# # # #
time.sleep(10) # time.sleep(10)
robot.moveJ("right", [0.00203898, 1.34062, 0.0,0.322261, 0.0,-0.000210733, -0.0942364]) # robot.moveJ("right", [0.00203898, 1.34062, 0.0,0.322261, 0.0,-0.000210733, -0.0942364])
# robot.torqueOff() # robot.torqueOff()
# // {"R_SHOULDER_P", 0.00203898}, # // {"R_SHOULDER_P", 0.00203898},

20
src/controller/touch_controller.cpp
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@ -91,4 +91,24 @@ bool TouchController::extractTouch(const std::vector<std::vector<uint16_t> > &ma
} }
bool TouchController::isArrive(double max_force) {
const auto& hand_data = hand_->getSensorData();
double force = 0.0;
int x = 0, y = 0;
extractTouch(hand_data.index.tip.data, force, x, y);
LOG(INFO) << "Force : " << force ;
// 输出 3x3 数组
LOG(INFO) << "Tip data (3x3):";
for (size_t i = 0; i < hand_data.index.tip.data.size(); ++i) {
std::stringstream ss;
for (size_t j = 0; j < hand_data.index.tip.data[i].size(); ++j) {
ss << hand_data.index.tip.data[i][j] << "\t";
}
LOG(INFO) << ss.str();
}
return force > max_force;
}

24
src/controller/touch_controller_test.cpp
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@ -39,15 +39,35 @@ TEST(TouchControllerTest,MyTest) {
pose.mutable_euler()->set_rz(1.57); pose.mutable_euler()->set_rz(1.57);
robot->moveJ("PELVIS_S","R_WRIST_R_S",pose); robot->moveJ("PELVIS_S","R_WRIST_R_S",pose);
// robot->seJ("PELVIS_S","R_WRIST_R_S",pose);
// robot->servoJ("PELVIS_S","R_WRIST_R_S",pose,0.5);
cmvr::msgs::Pose3d delta_pose;
delta_pose.mutable_position()->set_x( 0.01);
delta_pose.mutable_position()->set_y(0);
delta_pose.mutable_position()->set_z(0);
delta_pose.mutable_euler()->set_rx(0);
delta_pose.mutable_euler()->set_ry(0);
delta_pose.mutable_euler()->set_rz(0);
std::this_thread::sleep_for(std::chrono::milliseconds(10000));
robot->servoDeltaJ("PELVIS_S","R_FINGER_TIP",delta_pose,0.02);
Pose3d offset; Pose3d offset;
TouchController controller(robot, hand); TouchController controller(robot, hand);
while (true) { while (true) {
controller.touch(pose,offset,500); // controller.touch(pose,offset,500);
if (controller.isArrive(500)) {
delta_pose.mutable_position()->set_x( -0.01);
robot->servoDeltaJ("PELVIS_S","R_FINGER_TIP",delta_pose,0.05);
}
std::this_thread::sleep_for(std::chrono::milliseconds(10)); std::this_thread::sleep_for(std::chrono::milliseconds(10));
} }
} }

96
src/devices/camera/realsense_camera/realsense_camera.cpp
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@ -244,13 +244,28 @@ void RealsenseCamera::getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics) {
auto frame = stream_frame_buffer_->pop(getImageIndex_); auto frame = stream_frame_buffer_->pop(getImageIndex_);
if (frame.has_value()) { if (frame.has_value()) {
color = frame.value().rgbImage.clone(); color = frame.value().rgbImage.clone();
{
std::lock_guard<std::mutex> lock(frame_mtx_);
latest_depth_ = frame.value().depthImage.clone();
}
} }
else else
{ {
rs2::frameset frames = get_frameset(false); rs2::frameset frames = get_frameset(false);
auto color_frame = frames.get_color_frame(); auto color_frame = frames.get_color_frame();
color = cv::Mat(cv::Size(color_frame.get_width(), color_frame.get_height()), CV_8UC3, const_cast<void*>(color_frame.get_data()), cv::Mat::AUTO_STEP).clone(); auto depth_frame = frames.get_depth_frame();
color = cv::Mat(cv::Size(color_frame.get_width(), color_frame.get_height()),
CV_8UC3, const_cast<void*>(color_frame.get_data()),
cv::Mat::AUTO_STEP).clone();
if (depth_frame) {
cv::Mat depth = cv::Mat(cv::Size(depth_frame.get_width(), depth_frame.get_height()),
CV_16UC1, const_cast<void*>(depth_frame.get_data()),
cv::Mat::AUTO_STEP).clone();
std::lock_guard<std::mutex> lock(frame_mtx_);
latest_depth_ = depth;
}
} }
LOG(INFO) << "realsense get rgb frame successfully"; LOG(INFO) << "realsense get rgb frame successfully";
} }
@ -260,7 +275,6 @@ void RealsenseCamera::getRGBImage(cv::Mat& color, Rs2Intrinsics& intrinsics) {
} }
void RealsenseCamera::getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) { void RealsenseCamera::getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) {
intrinsics.cx = intrinsics_.ppx; intrinsics.cx = intrinsics_.ppx;
intrinsics.cy = intrinsics_.ppy; intrinsics.cy = intrinsics_.ppy;
intrinsics.fx = intrinsics_.fx; intrinsics.fx = intrinsics_.fx;
@ -272,8 +286,7 @@ void RealsenseCamera::getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) {
if (frame.has_value()) { if (frame.has_value()) {
depth = frame.value().depthImage.clone(); depth = frame.value().depthImage.clone();
} }
else else {
{
rs2::frameset frames; rs2::frameset frames;
try { try {
// 获取帧（带同步） // 获取帧（带同步）
@ -282,23 +295,24 @@ void RealsenseCamera::getDepthImage(cv::Mat& depth, Rs2Intrinsics& intrinsics) {
throw std::runtime_error("[RealsenseCamera] (getDepthImage): Failed to get frames: " + std::string(e.what())); throw std::runtime_error("[RealsenseCamera] (getDepthImage): Failed to get frames: " + std::string(e.what()));
} }
// 提取深度帧
rs2::depth_frame depth_frame = frames.get_depth_frame(); rs2::depth_frame depth_frame = frames.get_depth_frame();
if (!depth_frame) { if (!depth_frame) {
throw std::runtime_error("[RealsenseCamera] (getDepthImage): No depth frame available"); throw std::runtime_error("[RealsenseCamera] (getDepthImage): No depth frame available");
} }
// 创建深度图像（16位无符号整数，单位：毫米） depth = cv::Mat(cv::Size(depth_frame.get_width(), depth_frame.get_height()),
depth = cv::Mat(cv::Size(640, 480), CV_16UC1, const_cast<void*>(depth_frame.get_data()), cv::Mat::AUTO_STEP).clone(); CV_16UC1, const_cast<void*>(depth_frame.get_data()),
cv::Mat::AUTO_STEP).clone();
}
// 为避免内存问题，创建深拷贝 // 保存 latest_depth_
cv::Mat temp = depth.clone(); {
depth = temp; std::lock_guard<std::mutex> lock(frame_mtx_);
latest_depth_ = depth.clone();
} }
} }
void RealsenseCamera::getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsics& intrinsics) { void RealsenseCamera::getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsics& intrinsics) {
intrinsics.cx = intrinsics_.ppx; intrinsics.cx = intrinsics_.ppx;
intrinsics.cy = intrinsics_.ppy; intrinsics.cy = intrinsics_.ppy;
intrinsics.fx = intrinsics_.fx; intrinsics.fx = intrinsics_.fx;
@ -311,44 +325,39 @@ void RealsenseCamera::getRGBDImages(cv::Mat &color, cv::Mat &depth, Rs2Intrinsic
color = frame.value().rgbImage.clone(); color = frame.value().rgbImage.clone();
depth = frame.value().depthImage.clone(); depth = frame.value().depthImage.clone();
} }
else else {
{
rs2::frameset frames; rs2::frameset frames;
try { try {
// 获取对齐的帧集合
frames = get_frameset(true); frames = get_frameset(true);
} catch (const std::exception& e) { } catch (const std::exception& e) {
throw std::runtime_error("[RealsenseCamera] (getRGBDImages): Failed to get frames: " + std::string(e.what())); throw std::runtime_error("[RealsenseCamera] (getRGBDImages): Failed to get frames: " + std::string(e.what()));
} }
// 提取彩色帧 // 对齐深度到彩色坐标系
rs2::frame color_frame = frames.get_color_frame(); rs2::align align_to(RS2_STREAM_COLOR);
if (!color_frame) { frames = align_to.process(frames);
throw std::runtime_error("[RealsenseCamera] (getRGBDImages): No color frame available");
}
// 提取深度帧 rs2::video_frame color_frame = frames.get_color_frame();
// rs2::frame color_frame = frames.get_color_frame();
rs2::depth_frame depth_frame = frames.get_depth_frame(); rs2::depth_frame depth_frame = frames.get_depth_frame();
if (!depth_frame) { if (!color_frame || !depth_frame) {
throw std::runtime_error("[RealsenseCamera] (getRGBDImages): No depth frame available"); throw std::runtime_error("[RealsenseCamera] (getRGBDImages): Missing frames");
} }
// 创建彩色图像（BGR格式） color = cv::Mat(cv::Size(color_frame.get_width(), color_frame.get_height()),
color = cv::Mat(cv::Size(640, 480), CV_8UC3, const_cast<void*>(color_frame.get_data())); CV_8UC3, const_cast<void*>(color_frame.get_data())).clone();
depth = cv::Mat(cv::Size(depth_frame.get_width(), depth_frame.get_height()),
// 创建深度图像（16位无符号整数，单位：毫米） CV_16UC1, const_cast<void*>(depth_frame.get_data())).clone();
depth = cv::Mat(cv::Size(640, 480), CV_16UC1, const_cast<void*>(depth_frame.get_data()));
// 为避免内存问题，创建深拷贝
cv::Mat color_temp = color.clone();
cv::Mat depth_temp = depth.clone();
color = color_temp;
depth = depth_temp;
} }
// 保存 latest_depth_
{
std::lock_guard<std::mutex> lock(frame_mtx_);
latest_depth_ = depth.clone();
}
} }
void RealsenseCamera::updateParams(const std::pair<std::string, std::string>& param) { void RealsenseCamera::updateParams(const std::pair<std::string, std::string>& param) {
std::lock_guard lock(ctrl_mtx_); std::lock_guard lock(ctrl_mtx_);
try { try {
@ -1024,3 +1033,22 @@ void RealsenseCamera::stopStreaming()
state_.is_streaming = false; state_.is_streaming = false;
} }
} }
Eigen::Vector3f RealsenseCamera::get3DPointFromPixel(int u, int v) {
std::lock_guard<std::mutex> lock(frame_mtx_);
if (latest_depth_.empty()) return {0,0,0};
// 获取深度值，单位米
float depth_m = latest_depth_.at<uint16_t>(v, u) * 0.001f;
if (depth_m <= 0) return {0,0,0};
float pixel[2] = { static_cast<float>(u), static_cast<float>(v) };
float point[3];
rs2_deproject_pixel_to_point(point, &intrinsics_, pixel, depth_m);
return { point[0], point[1], point[2] };
}

6
src/devices/camera/realsense_camera/realsense_camera.h
View File

@ -39,6 +39,9 @@ namespace cmvr::device{
bool startStreaming() override; bool startStreaming() override;
void stopStreaming() override; void stopStreaming() override;
Eigen::Vector3f get3DPointFromPixel(int u, int v) override;
private: private:
rs2::frameset get_frameset(bool align); rs2::frameset get_frameset(bool align);
void streaming_worker_(); void streaming_worker_();
@ -100,6 +103,9 @@ namespace cmvr::device{
bool is_streaming_running = false; bool is_streaming_running = false;
bool is_recording_running = false; bool is_recording_running = false;
int stream_count_ = 0; int stream_count_ = 0;
cv::Mat latest_depth_;
std::mutex depth_mtx_;
}; };
} }

119
src/devices/robot/humanoid_robot/humanoid_robot.cpp
View File

@ -224,6 +224,30 @@ template<int DOF>
HumanoidRobot<DOF>::~HumanoidRobot() { HumanoidRobot<DOF>::~HumanoidRobot() {
// TODO: close can interfaces // TODO: close can interfaces
upd_timer_->stop(); upd_timer_->stop();
std::vector<JointPoint> cmd = {
{"L_SHOULDER_P", 0.0},
{"L_SHOULDER_R", -1.31873},
{"L_SHOULDER_Y", 0.0},
{"L_ELBOW_R", -0.537621},
{"L_WRIST_P", 0.0},
{"L_WRIST_Y", 0.000183204},
{"L_WRIST_R", 0.0225797},
{"R_SHOULDER_P", -0.0201069},
{"R_SHOULDER_R", 1.46698},
{"R_SHOULDER_Y", 1.45894},
{"R_ELBOW_R", 0.159681},
{"R_WRIST_P", 0.0808349},
{"R_WRIST_Y", -0.138279},
{"R_WRIST_R", -0.243169},
{"WAIST_Y", 0},
{"WAIST_P", 0}
};
this->moveJ(cmd,0.8);
this->torqueOff();
} }
template<int DOF> template<int DOF>
@ -659,22 +683,95 @@ void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double dt) {
template<int DOF> template<int DOF>
void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double vel, double dt) { void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double vel, double dt) {
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) { for (const auto &j: joints) {
rsm_.store(ROBOT_RUNNING); auto motor = motor_manager_->getMotor(j.joint_name);
for (const auto &j: joints) { if (motor != nullptr) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) { if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setQd(vel); motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
motor->setQ(j.rad);
} }
motor->setQd(vel);
motor->setQ(j.rad);
} }
rsm_.store(ROBOT_READY);
} }
} }
template<int DOF>
void HumanoidRobot<DOF>::servoJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose, double vel,
double acc) {
try {
// update m_state_
Eigen::Vector<double, DOF> q_init;
auto q_map = getJointQ();
q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
LOG(INFO) << "q_init: " << q_init;
m_state_->SetQ(q_init);
m_robot_->ComputeForwardKinematics(m_state_);
Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity();
T_target.block<3, 3>(0, 0) = eulerZYXToRotationMatrix(pose.euler().rx(), pose.euler().ry(), pose.euler().rz());
// 输入为弧度
T_target(0, 3) = pose.position().x();
T_target(1, 3) = pose.position().y();
T_target(2, 3) = pose.position().z();
cmvr::ctrl::PoseTarget target;
target.T_target = T_target;
target.w_posrot = 0.5;
target.weight = 1.0;
target.link_name = ee_link;
// slove ik
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, {target}, 0.002,
ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 10000, 1e-6);
if (!ok) {
throw runtime_error("solve IK failed");
}
std::vector<JointPoint> joint_points{
{"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]},
{"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]},
{"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]},
{"R_WRIST_R", q_cmd[13]}
};
servoJ(joint_points, vel, 0.1);
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::servoDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose, double vel, double acc) {
try {
// 1 : 计算当前位姿
auto cur_pose = fk(base_link, ee_link);
// 2 : 计算目标角度 target pos = cur_pose + delta_pose
cmvr::msgs::Pose3d target_pose;
target_pose.mutable_position()->set_x(cur_pose.position().x() + delta_pose.position().x());
target_pose.mutable_position()->set_y(cur_pose.position().y() + delta_pose.position().y());
target_pose.mutable_position()->set_z(cur_pose.position().z() + delta_pose.position().z());
target_pose.mutable_euler()->set_rx(cur_pose.euler().rx() + delta_pose.euler().rx());
target_pose.mutable_euler()->set_ry(cur_pose.euler().ry() + delta_pose.euler().ry());
target_pose.mutable_euler()->set_rz(cur_pose.euler().rz() + delta_pose.euler().rz());
//3 :
servoJ(base_link, ee_link, target_pose, vel, acc);
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF> template<int DOF>
void HumanoidRobot<DOF>::servoL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double dt) { void HumanoidRobot<DOF>::servoL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double dt) {

4
src/devices/robot/humanoid_robot/humanoid_robot.h
View File

@ -59,7 +59,7 @@ namespace cmvr::device{
/* robot basic command*/ /* robot basic command*/
void eStop() override; void eStop() override;
void moveJ(std::vector<JointPoint> &cmd, double vel, double acc) override; void moveJ(std::vector<JointPoint> &cmd, double vel = 0.5, double acc = 0.1) override;
void moveJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose,double vel, double acc) override; void moveJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose,double vel, double acc) override;
void moveJ_IK(const std::string &base_link, const std::vector<cmvr::ctrl::PoseTarget> &targets, double vel, double acc) override ; void moveJ_IK(const std::string &base_link, const std::vector<cmvr::ctrl::PoseTarget> &targets, double vel, double acc) override ;
void moveDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose, double vel, double acc) override; void moveDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose, double vel, double acc) override;
@ -72,6 +72,8 @@ namespace cmvr::device{
void servoJ(std::vector<JointPoint> &joints, double dt) override; void servoJ(std::vector<JointPoint> &joints, double dt) override;
void servoJ(std::vector<JointPoint> &joints, double vel, double dt) override; void servoJ(std::vector<JointPoint> &joints, double vel, double dt) override;
void servoJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose, double vel, double acc) override;
void servoDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose, double vel, double acc) override;
void servoL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double dt) override; void servoL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double dt) override;
protected: protected:

102
src/devices/robot/humanoid_robot/humanoid_robot_test.cpp
View File

@ -282,50 +282,50 @@ TEST(HumanoidRobotTest,FollowJointTrajectoryTest) {
// {"R_WRIST_R", 0.280016} // {"R_WRIST_R", 0.280016}
// }; // };
//
std::vector<JointPoint> cmd1{ // std::vector<JointPoint> cmd1{
{"L_SHOULDER_P", -0.747573}, // {"L_SHOULDER_P", -0.747573},
{"L_SHOULDER_R", -1.26911}, // {"L_SHOULDER_R", -1.26911},
{"L_SHOULDER_Y", -1.20811}, // {"L_SHOULDER_Y", -1.20811},
{"L_ELBOW_R", -1.51221}, // {"L_ELBOW_R", -1.51221},
{"L_WRIST_P", 2.64099}, // {"L_WRIST_P", 2.64099},
{"L_WRIST_Y", 0.417608}, // {"L_WRIST_Y", 0.417608},
{"L_WRIST_R", -0.518287}, // {"L_WRIST_R", -0.518287},
//
{"R_SHOULDER_P", -0.956276}, // {"R_SHOULDER_P", -0.956276},
{"R_SHOULDER_R", 1.0244}, // {"R_SHOULDER_R", 1.0244},
{"R_SHOULDER_Y", 2.70621}, // {"R_SHOULDER_Y", 2.70621},
{"R_ELBOW_R", 2.02276}, // {"R_ELBOW_R", 2.02276},
{"R_WRIST_P", -1.99653}, // {"R_WRIST_P", -1.99653},
{"R_WRIST_Y", 0.68523}, // {"R_WRIST_Y", 0.68523},
{"R_WRIST_R", 0.477066} // {"R_WRIST_R", 0.477066}
}; // };
//
std::vector<JointPoint> cmd2{ // std::vector<JointPoint> cmd2{
{"L_SHOULDER_P", -0.747573}, // {"L_SHOULDER_P", -0.747573},
{"L_SHOULDER_R", -1.26911}, // {"L_SHOULDER_R", -1.26911},
{"L_SHOULDER_Y", -1.20811}, // {"L_SHOULDER_Y", -1.20811},
{"L_ELBOW_R", -1.51221}, // {"L_ELBOW_R", -1.51221},
{"L_WRIST_P", 2.64099}, // {"L_WRIST_P", 2.64099},
{"L_WRIST_Y", 0.417608}, // {"L_WRIST_Y", 0.417608},
{"L_WRIST_R", -0.518287}, // {"L_WRIST_R", -0.518287},
//
{"R_SHOULDER_P", 0.226871}, // {"R_SHOULDER_P", 0.226871},
{"R_SHOULDER_R", 0.624717}, // {"R_SHOULDER_R", 0.624717},
{"R_SHOULDER_Y", 1.15086}, // {"R_SHOULDER_Y", 1.15086},
{"R_ELBOW_R", 1.30365}, // {"R_ELBOW_R", 1.30365},
{"R_WRIST_P", -2.14683}, // {"R_WRIST_P", -2.14683},
{"R_WRIST_Y", 0.196003}, // {"R_WRIST_Y", 0.196003},
{"R_WRIST_R", 0.106678} // {"R_WRIST_R", 0.106678}
}; // };
//
//
//
while (true) { // while (true) {
robot->moveJ(cmd1,0.8); // robot->moveJ(cmd1,0.8);
robot->moveJ(cmd2,0.8); // robot->moveJ(cmd2,0.8);
std::this_thread::sleep_for(std::chrono::milliseconds(500)); // std::this_thread::sleep_for(std::chrono::milliseconds(500));
} // }
} }
@ -345,16 +345,20 @@ TEST(HumanoidRobotTest,MoveDeltaTest) {
cmvr::msgs::Pose3d pose; cmvr::msgs::Pose3d pose;
pose.mutable_position()->set_x( 0); pose.mutable_position()->set_x( 0);
pose.mutable_position()->set_y(0); pose.mutable_position()->set_y(0);
pose.mutable_position()->set_z(0.03); pose.mutable_position()->set_z(0.01);
pose.mutable_euler()->set_rx(0); pose.mutable_euler()->set_rx(0);
pose.mutable_euler()->set_ry(0); pose.mutable_euler()->set_ry(0);
pose.mutable_euler()->set_rz(0); pose.mutable_euler()->set_rz(0);
robot->moveDeltaJ("PELVIS_S","R_WRIST_R_S",pose); try {
robot->servoDeltaJ("PELVIS_S","R_FINGER_TIP",pose,0.1);
// robot->servoDeltaJ("PELVIS_S","R_FINGER_TIP",pose,0.01);
// robot->moveDeltaJ("PELVIS_S","R_FINGER_TIP",pose);
}catch (std::exception &e) {
robot->torqueOff();
LOG(INFO) << e.what();
}
} }
TEST(HumanoidRobotTest,AngleToTest) { TEST(HumanoidRobotTest,AngleToTest) {

6
src/main.cpp
View File

@ -17,7 +17,7 @@
#include "utils/base/logger.h" #include "utils/base/logger.h"
#include "service/grpc_head_service.h" #include "service/grpc_head_service.h"
#include "service/grpc_humanoid_robot_service.h" #include "service/grpc_humanoid_robot_service.h"
#include "service/grpc_touch_service.h" #include "service/grpc_hlc_service.h"
#include "http/httpclient.h" #include "http/httpclient.h"
#include "json/json.h" #include "json/json.h"
@ -49,7 +49,7 @@ void runServer(const XmlNode &cfg){
auto dexhand_service = gRPCDexHandServiceImpl(); auto dexhand_service = gRPCDexHandServiceImpl();
auto biohand_service = gRPCMBioHeadServiceImpl(); auto biohand_service = gRPCMBioHeadServiceImpl();
auto humanoid_robot_service = gRPCHumanoidRobotServiceImpl(); auto humanoid_robot_service = gRPCHumanoidRobotServiceImpl();
auto touch_service = gRPCTouchServiceImpl(); auto hlc_service = gRPCHlcServiceImpl();
grpc::ServerBuilder builder; grpc::ServerBuilder builder;
builder.AddListeningPort(address, grpc::InsecureServerCredentials()); builder.AddListeningPort(address, grpc::InsecureServerCredentials());
@ -60,7 +60,7 @@ void runServer(const XmlNode &cfg){
builder.RegisterService(&dexhand_service); builder.RegisterService(&dexhand_service);
builder.RegisterService(&biohand_service); builder.RegisterService(&biohand_service);
builder.RegisterService(&humanoid_robot_service); builder.RegisterService(&humanoid_robot_service);
builder.RegisterService(&touch_service); builder.RegisterService(&hlc_service);
// 🔥 关键！启用反射 // 🔥 关键！启用反射
//grpc::reflection::InitProtoReflectionServerBuilderPlugin(); //grpc::reflection::InitProtoReflectionServerBuilderPlugin();

2
src/service/CMakeLists.txt
View File

@ -6,7 +6,7 @@ add_library(service
grpc_head_service.cpp grpc_head_service.cpp
grpc_dexhand_service.cpp grpc_dexhand_service.cpp
grpc_humanoid_robot_service.cpp grpc_humanoid_robot_service.cpp
grpc_touch_service.cpp grpc_hlc_service.cpp
) )
target_include_directories(service PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_include_directories(service PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

24
src/service/grpc_touch_client_test.cpp → src/service/grpc_hlc_client_test.cpp
View File

@ -4,17 +4,17 @@
#include "gtest/gtest.h" #include "gtest/gtest.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <grpcpp/grpcpp.h> #include <grpcpp/grpcpp.h>
#include "service/grpc_touch_service.h" #include "service/grpc_hlc_service.h"
#include "google/protobuf/timestamp.pb.h" #include "google/protobuf/timestamp.pb.h"
#include <iostream> #include <iostream>
#include <google/protobuf/util/time_util.h> #include <google/protobuf/util/time_util.h>
using namespace cmvr::api; using namespace cmvr::api;
TEST(GrpcTouchClientTest, MyTest) { TEST(GrpcHlcClientTest, MyTest) {
// 连接服务端 // 连接服务端
auto channel = grpc::CreateChannel("0.0.0.0:50052", grpc::InsecureChannelCredentials()); auto channel = grpc::CreateChannel("0.0.0.0:50052", grpc::InsecureChannelCredentials());
auto stub = cmvr::api::TouchService::NewStub(channel); auto stub = cmvr::api::HlcService::NewStub(channel);
grpc::ClientContext context; grpc::ClientContext context;
@ -25,23 +25,11 @@ TEST(GrpcTouchClientTest, MyTest) {
request.mutable_header()->set_device_id("hc01"); request.mutable_header()->set_device_id("hc01");
*request.mutable_header()->mutable_timestamp() = google::protobuf::util::TimeUtil::GetCurrentTime(); *request.mutable_header()->mutable_timestamp() = google::protobuf::util::TimeUtil::GetCurrentTime();
// 目标位姿
request.mutable_pose()->mutable_position()->set_x(0.15);
request.mutable_pose()->mutable_position()->set_y(-0.4);
request.mutable_pose()->mutable_position()->set_z(0);
request.mutable_pose()->mutable_euler()->set_rx(0); request.set_u(12);
request.mutable_pose()->mutable_euler()->set_ry(0); request.set_v(13);
request.mutable_pose()->mutable_euler()->set_rz(1.57); request.set_max_force(1300);
// 偏移位姿
request.mutable_offset()->mutable_position()->set_x(0);
request.mutable_offset()->mutable_position()->set_y(0);
request.mutable_offset()->mutable_position()->set_z(0);
request.mutable_offset()->mutable_euler()->set_rx(0);
request.mutable_offset()->mutable_euler()->set_ry(0);
request.mutable_offset()->mutable_euler()->set_rz(0);
// 调用 // 调用

8
src/service/grpc_touch_service.cpp → src/service/grpc_hlc_service.cpp
View File

@ -3,7 +3,7 @@
// //
#include "service/grpc_touch_service.h" #include "service/grpc_hlc_service.h"
#include <google/protobuf/util/time_util.h> #include <google/protobuf/util/time_util.h>
#include "robot/humanoid_robot/humanoid_robot.h" #include "robot/humanoid_robot/humanoid_robot.h"
#include "controller/touch_controller.h" #include "controller/touch_controller.h"
@ -14,16 +14,16 @@ using namespace cmvr::device;
using namespace cmvr::api; using namespace cmvr::api;
using google::protobuf::util::TimeUtil; using google::protobuf::util::TimeUtil;
gRPCTouchServiceImpl::gRPCTouchServiceImpl():dmgr_(DeviceManager::getInstance()){} gRPCHlcServiceImpl::gRPCHlcServiceImpl():dmgr_(DeviceManager::getInstance()){}
grpc::Status gRPCTouchServiceImpl::touch(grpc::ServerContext *context, const cmvr::api::Touch_Request *request, cmvr::api::Touch_Response *response) { grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr::api::Touch_Request *request, cmvr::api::Touch_Response *response) {
grpc::Status ret = grpc::Status::OK; grpc::Status ret = grpc::Status::OK;
try { try {
auto robot = dmgr_.getDevice<AbstractRobot>(request->header().device_id()); auto robot = dmgr_.getDevice<AbstractRobot>(request->header().device_id());
ctrl::TouchController touch_controller; ctrl::TouchController touch_controller;
touch_controller.touch(robot,request->pose(),request->offset()); touch_controller.touch(request->u(),request->v(),request->max_force());
response->mutable_header()->set_success(true); response->mutable_header()->set_success(true);
response->mutable_header()->set_error_message(""); response->mutable_header()->set_error_message("");
}catch (const std::exception& e) { }catch (const std::exception& e) {