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ufo.cc
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#include <vector>
#include <drake/geometry/proximity_properties.h>
#include <drake/multibody/plant/externally_applied_spatial_force.h>
#include <drake/multibody/plant/multibody_plant.h>
#include <drake/systems/analysis/simulator.h>
#include <drake/systems/controllers/pid_controller.h>
#include <drake/systems/framework/diagram_builder.h>
#include <drake/systems/framework/leaf_system.h>
#include <drake/systems/primitives/constant_value_source.h>
#include <drake/systems/primitives/constant_vector_source.h>
#include <drake/systems/primitives/discrete_derivative.h>
#include <drake/systems/primitives/multiplexer.h>
#include <drake_ros_core/drake_ros.h>
#include <drake_ros_core/ros_interface_system.h>
#include <drake_ros_core/ros_subscriber_system.h>
#include <drake_ros_tf2/scene_tf_broadcaster_system.h>
#include <drake_ros_viz/rviz_visualizer.h>
#include <geometry_msgs/msg/pose_stamped.hpp>
using drake::geometry::AddContactMaterial;
using drake::geometry::Ellipsoid;
using drake::geometry::HalfSpace;
using drake::geometry::ProximityProperties;
using drake::geometry::Sphere;
using drake::multibody::BodyIndex;
using drake_ros_core::DrakeRos;
using drake_ros_core::RosInterfaceSystem;
using drake_ros_core::RosSubscriberSystem;
using drake_ros_tf2::SceneTfBroadcasterParams;
using drake_ros_tf2::SceneTfBroadcasterSystem;
using drake_ros_viz::RvizVisualizer;
using drake_ros_viz::RvizVisualizerParams;
using Eigen::Quaterniond;
using Eigen::Vector3d;
using Eigen::Vector4d;
using Eigen::VectorXd;
using BasicVectord = drake::systems::BasicVector<double>;
using ConstantVectorSourced = drake::systems::ConstantVectorSource<double>;
using Contextd = drake::systems::Context<double>;
using CoulombFrictiond = drake::multibody::CoulombFriction<double>;
using Diagramd = drake::systems::Diagram<double>;
using DiagramBuilderd = drake::systems::DiagramBuilder<double>;
using ExternallyAppliedSpatialForced =
drake::multibody::ExternallyAppliedSpatialForce<double>;
using LeafSystemd = drake::systems::LeafSystem<double>;
using MultibodyPlantd = drake::multibody::MultibodyPlant<double>;
using Multiplexerd = drake::systems::Multiplexer<double>;
using PidControllerd = drake::systems::controllers::PidController<double>;
using RigidBodyd = drake::multibody::RigidBody<double>;
using RigidTransformd = drake::math::RigidTransform<double>;
using RollPitchYawd = drake::math::RollPitchYaw<double>;
using RotationMatrixd = drake::math::RotationMatrix<double>;
using Simulatord = drake::systems::Simulator<double>;
using SpatialForced = drake::multibody::SpatialForce<double>;
using SpatialInertiad = drake::multibody::SpatialInertia<double>;
using StateInterpolatorWithDiscreteDerivatived =
drake::systems::StateInterpolatorWithDiscreteDerivative<double>;
using Systemd = drake::systems::System<double>;
using UnitInertiad = drake::multibody::UnitInertia<double>;
/// Adds body named FlyingSaucer to the multibody plant.
void AddFlyingSaucer(MultibodyPlantd* plant) {
const double kSaucerRadius = 2.5;
const double kSaucerThickness = 1.0;
const double kLookoutRadius = kSaucerThickness * 0.99;
const double kA = kSaucerRadius;
const double kB = kSaucerRadius;
const double kC = kSaucerThickness / 2.0;
const double kSaucerMass = 1000.0;
const double kLookoutMass = kSaucerMass * 0.1;
auto G_Scm = UnitInertiad::SolidEllipsoid(kA, kB, kC);
auto G_Lcm = UnitInertiad::HollowSphere(kLookoutRadius);
auto M_Scm = SpatialInertiad(kSaucerMass, Vector3d::Zero(), G_Scm);
auto M_Lcm = SpatialInertiad(kLookoutMass, Vector3d::Zero(), G_Lcm);
const double kDissipation = 5.0; // s/m
const double kFrictionCoefficient = 0.3;
const CoulombFrictiond kSurfaceFriction(
kFrictionCoefficient /* static friction */,
kFrictionCoefficient /* dynamic friction */);
const Vector4d kGray(0.5, 0.5, 0.5, 1);
const Vector4d kTranslucentOrange(1.0, 0.55, 0.0, 0.35);
auto saucer_geom = Ellipsoid(kA, kB, kC);
auto lookout_geom = Sphere(kLookoutRadius);
ProximityProperties saucer_props;
ProximityProperties lookout_props;
AddContactMaterial(kDissipation, {} /* point stiffness */, kSurfaceFriction,
&saucer_props);
AddContactMaterial(kDissipation, {} /* point stiffness */, kSurfaceFriction,
&lookout_props);
const RigidTransformd X_SS; // identity
// Lookout in Saucer frame
const RigidTransformd X_SL(RollPitchYawd(0.0, 0.0, 0.0),
Vector3d(0.0, 0.0, kC));
// Combined Spatial Inertia
auto M_Ccm{M_Scm};
M_Ccm += M_Lcm.Shift(X_SL.translation());
const RigidBodyd& flying_saucer = plant->AddRigidBody("FlyingSaucer", M_Ccm);
plant->RegisterCollisionGeometry(flying_saucer, X_SS, saucer_geom,
"collision_saucer", saucer_props);
plant->RegisterVisualGeometry(flying_saucer, X_SS, saucer_geom,
"visual_saucer", kGray);
plant->RegisterCollisionGeometry(flying_saucer, X_SL, lookout_geom,
"collision_lookout", lookout_props);
plant->RegisterVisualGeometry(flying_saucer, X_SL, lookout_geom,
"visual_lookout", kTranslucentOrange);
}
/// Adds Ground geometry to the world in the multibody plant.
void AddGround(MultibodyPlantd* plant) {
const double kDissipation = 5.0; // s/m
const double kFrictionCoefficient = 0.3;
const CoulombFrictiond kSurfaceFriction(
kFrictionCoefficient /* static friction */,
kFrictionCoefficient /* dynamic friction */);
const Vector4d kGreen(0.0, 0.5, 0.0, 1);
RigidTransformd X_WG; // identity
ProximityProperties ground_props;
AddContactMaterial(kDissipation, {} /* point stiffness */, kSurfaceFriction,
&ground_props);
plant->RegisterCollisionGeometry(plant->world_body(), X_WG, HalfSpace{},
"collision_ground", std::move(ground_props));
plant->RegisterVisualGeometry(plant->world_body(), X_WG, HalfSpace{},
"visual_ground", kGreen);
}
class SplitRigidTransform : public LeafSystemd {
public:
SplitRigidTransform() {
DeclareAbstractInputPort(kTransformPort,
*drake::AbstractValue::Make(RigidTransformd()));
DeclareVectorOutputPort(kOrientationPort, BasicVectord(3),
&SplitRigidTransform::CalcOrientation);
DeclareVectorOutputPort(kPositionPort, BasicVectord(3),
&SplitRigidTransform::CalcPosition);
}
virtual ~SplitRigidTransform() = default;
static constexpr const char* kTransformPort{"X_WF"};
static constexpr const char* kOrientationPort{"R_WF"};
static constexpr const char* kPositionPort{"p_WF"};
private:
void CalcOrientation(const Contextd& context, BasicVectord* output) const {
auto& transform_port = GetInputPort(kTransformPort);
const auto& X_WF = transform_port.Eval<RigidTransformd>(context);
output->SetFromVector(RollPitchYawd(X_WF.rotation()).vector());
}
void CalcPosition(const Contextd& context, BasicVectord* output) const {
auto& transform_port = GetInputPort(kTransformPort);
const auto& X_WF = transform_port.Eval<RigidTransformd>(context);
output->SetFromVector(X_WF.translation());
}
};
class UnsplitSpatialForce : public LeafSystemd {
public:
UnsplitSpatialForce() {
DeclareVectorInputPort(kForcesPort, BasicVectord(3));
DeclareVectorInputPort(kTorquesPort, BasicVectord(3));
DeclareAbstractOutputPort(kSpatialForcePort,
&UnsplitSpatialForce::CalcSpatialForce);
}
virtual ~UnsplitSpatialForce() = default;
static constexpr const char* kForcesPort{"f_F"};
static constexpr const char* kTorquesPort{"t_F"};
static constexpr const char* kSpatialForcePort{"F_F"};
private:
void CalcSpatialForce(const Contextd& context, SpatialForced* output) const {
auto& forces_port = GetInputPort(kForcesPort);
auto& torques_port = GetInputPort(kTorquesPort);
const auto& f_F = forces_port.Eval<BasicVectord>(context).value();
const auto& t_F = torques_port.Eval<BasicVectord>(context).value();
*output = SpatialForced(t_F, f_F);
}
};
std::unique_ptr<Diagramd> CreateSaucerController() {
// X_WS = Pose of saucer in world frame
// X_WT = Target saucer pose in world frame
// p_WS = Current saucer position in world frame
// p_WT = Target saucer position in world frame
// f_S_W = force to be applied to saucer in world frame
// t_S_W = torque to be applied to saucer in world frame
// F_S_W = SpatialForce to be applied on saucer in world frame
// TODO(eric.cousineau): Add orientation controller
// Not included: glue to MultibodyPlant's vectors of stuff
DiagramBuilderd builder;
// Input glue (current pose splitter)
// input: RigidTransform X_WS
// output: Vector3d (Euler) R_WS
// output: Vector3d p_WS
auto* current_pose_glue = builder.AddSystem<SplitRigidTransform>();
// Input glue (target pose splitter)
// input: RigidTransform X_WT
// output: Vector3d (Euler) R_WT
// output: Vector3d p_WT
auto* target_pose_glue = builder.AddSystem<SplitRigidTransform>();
// Zero velocity for target pose
auto* zero_vector3 =
builder.AddSystem<ConstantVectorSourced>(Vector3d{0.0, 0.0, 0.0});
// Current position state with derivative
// input: p_WS
// output: p_WS concatenated with v_WS
auto* current_position_interp =
builder.AddSystem<StateInterpolatorWithDiscreteDerivatived>(3, 0.01);
builder.Connect(
current_pose_glue->GetOutputPort(SplitRigidTransform::kPositionPort),
current_position_interp->get_input_port());
// Target position mux
// input: p_WT
// output: p_WT concatenated with v_WT (zeros)
auto* target_position_mux =
builder.AddSystem<Multiplexerd>(std::vector<int>{3, 3});
builder.Connect(
target_pose_glue->GetOutputPort(SplitRigidTransform::kPositionPort),
target_position_mux->get_input_port(0));
builder.Connect(zero_vector3->get_output_port(),
target_position_mux->get_input_port(1));
// Forces PidController
// input: estimated state Vector3d p_WS concatenated with v_WS
// input: desired state Vector3d p_WT concatenated with v_WT
// output: Vector3d f_S_W
auto* forces_pid_controller = builder.AddSystem<PidControllerd>(
Vector3d{100.0f, 100.0f, 2500.0f}, Vector3d{0.0f, 0.0f, 50.0f},
Vector3d{500.0f, 500.0f, 500.0f});
builder.Connect(current_position_interp->get_output_port(),
forces_pid_controller->get_input_port_estimated_state());
builder.Connect(target_position_mux->get_output_port(),
forces_pid_controller->get_input_port_desired_state());
// Output Glue
// input: Vector3d f_S_W
// input: Vector3d t_S_W (zeros)
// output: SpacialForce F_S_W
auto* spatial_force_combiner = builder.AddSystem<UnsplitSpatialForce>();
builder.Connect(
forces_pid_controller->get_output_port_control(),
spatial_force_combiner->GetInputPort(UnsplitSpatialForce::kForcesPort));
builder.Connect(
zero_vector3->get_output_port(),
spatial_force_combiner->GetInputPort(UnsplitSpatialForce::kTorquesPort));
// Whole diagram ports
// input: RigidTransform X_WS
// input: RigidTransform X_WT
// output: SpatialForced F_S_W
builder.ExportInput(
current_pose_glue->GetInputPort(SplitRigidTransform::kTransformPort),
"X_WS");
builder.ExportInput(
target_pose_glue->GetInputPort(SplitRigidTransform::kTransformPort),
"X_WT");
builder.ExportOutput(spatial_force_combiner->GetOutputPort(
UnsplitSpatialForce::kSpatialForcePort),
"F_S_W");
return builder.Build();
}
class BodyPoseAtIndex : public LeafSystemd {
public:
explicit BodyPoseAtIndex(BodyIndex index) : index_(index) {
DeclareAbstractInputPort(
kBodyPosesPort,
*drake::AbstractValue::Make(std::vector<RigidTransformd>{}));
DeclareAbstractOutputPort(kPosePort, &BodyPoseAtIndex::CalcPose);
}
virtual ~BodyPoseAtIndex() = default;
static constexpr const char* kBodyPosesPort{"body_poses"};
static constexpr const char* kPosePort{"pose"};
private:
void CalcPose(const Contextd& context, RigidTransformd* output) const {
auto& body_poses_port = GetInputPort(kBodyPosesPort);
const auto& body_poses =
body_poses_port.Eval<std::vector<RigidTransformd>>(context);
*output = body_poses.at(index_);
}
const BodyIndex index_;
};
class AppliedSpatialForceVector : public LeafSystemd {
public:
explicit AppliedSpatialForceVector(BodyIndex index) : index_(index) {
DeclareAbstractInputPort(kSpatialForcePort,
*drake::AbstractValue::Make(SpatialForced()));
DeclareAbstractOutputPort(
kAppliedSpatialForcePort,
&AppliedSpatialForceVector::CalcAppliedSpatialForceVector);
}
virtual ~AppliedSpatialForceVector() = default;
static constexpr const char* kSpatialForcePort{"body_poses"};
static constexpr const char* kAppliedSpatialForcePort{
"applied_spatial_force"};
private:
void CalcAppliedSpatialForceVector(
const Contextd& context,
std::vector<ExternallyAppliedSpatialForced>* output) const {
auto& input_port = GetInputPort(kSpatialForcePort);
const auto& F_WB = input_port.Eval<SpatialForced>(context);
ExternallyAppliedSpatialForced spatial_force;
spatial_force.body_index = index_;
spatial_force.p_BoBq_B = Vector3d{0, 0, 0};
spatial_force.F_Bq_W = F_WB;
output->clear();
output->push_back(spatial_force);
}
const BodyIndex index_;
};
class RosPoseGlue : public LeafSystemd {
public:
explicit RosPoseGlue(double extra_z = 0.0) : extra_z_(extra_z) {
DeclareAbstractInputPort(
kRosMsgPort,
*drake::AbstractValue::Make(geometry_msgs::msg::PoseStamped()));
DeclareAbstractOutputPort(kOutputPort, &RosPoseGlue::CalcDrakeTransform);
}
virtual ~RosPoseGlue() = default;
static constexpr const char* kRosMsgPort{"ros_pose"};
static constexpr const char* kOutputPort{"drake_pose"};
private:
void CalcDrakeTransform(const Contextd& context,
RigidTransformd* output) const {
auto& input_port = GetInputPort(kRosMsgPort);
// TODO(sloretz) use RobotLocomotion/drake-ros#141
const auto& goal_pose =
input_port.Eval<geometry_msgs::msg::PoseStamped>(context);
Vector3d translation{
goal_pose.pose.position.x,
goal_pose.pose.position.y,
goal_pose.pose.position.z + extra_z_,
};
Quaterniond rotation{
goal_pose.pose.orientation.w,
goal_pose.pose.orientation.x,
goal_pose.pose.orientation.y,
goal_pose.pose.orientation.z,
};
output->set_translation(translation);
output->set_rotation(rotation);
}
const double extra_z_;
};
/// Build a simulation and set initial conditions.
std::unique_ptr<Diagramd> BuildSimulation() {
DiagramBuilderd builder;
auto [plant, scene_graph] =
drake::multibody::AddMultibodyPlantSceneGraph(&builder, 0.001);
AddGround(&plant);
AddFlyingSaucer(&plant);
plant.Finalize();
auto* ufo_controller = builder.AddSystem(CreateSaucerController());
// Glue controller to multibody plant
// Get saucer poses X_WS to controller
const BodyIndex ufo_index = plant.GetBodyByName("FlyingSaucer").index();
auto* body_pose_at_index = builder.AddSystem<BodyPoseAtIndex>(ufo_index);
builder.Connect(
plant.get_body_poses_output_port(),
body_pose_at_index->GetInputPort(BodyPoseAtIndex::kBodyPosesPort));
builder.Connect(body_pose_at_index->GetOutputPort(BodyPoseAtIndex::kPosePort),
ufo_controller->GetInputPort("X_WS"));
// TODO(sloretz) replace when RobotLocomotion/drake#16923 is solved
auto* apply_force_glue =
builder.AddSystem<AppliedSpatialForceVector>(ufo_index);
builder.Connect(ufo_controller->GetOutputPort("F_S_W"),
apply_force_glue->get_input_port());
builder.Connect(apply_force_glue->get_output_port(),
plant.get_applied_spatial_force_input_port());
// Add basic system to create a ROS node
auto* ros_interface_system = builder.AddSystem<RosInterfaceSystem>(
std::make_unique<DrakeRos>("systems_framework_demo"));
// Add a TF2 broadcaster to provide frame info to ROS
auto* scene_tf_broadcaster = builder.AddSystem<SceneTfBroadcasterSystem>(
ros_interface_system->get_ros_interface());
builder.Connect(scene_graph.get_query_output_port(),
scene_tf_broadcaster->get_graph_query_input_port());
// Add a system to output the visualisation markers for RViz
auto* scene_visualizer = builder.AddSystem<RvizVisualizer>(
ros_interface_system->get_ros_interface());
scene_visualizer->RegisterMultibodyPlant(&plant);
builder.Connect(scene_graph.get_query_output_port(),
scene_visualizer->get_graph_query_input_port());
// Add system to get goal pose from RViz
auto* goal_sub = builder.AddSystem(
RosSubscriberSystem::Make<geometry_msgs::msg::PoseStamped>(
"goal_pose", rclcpp::QoS(1),
ros_interface_system->get_ros_interface()));
auto goal_glue = builder.AddSystem<RosPoseGlue>(10.0f);
builder.Connect(goal_sub->get_output_port(), goal_glue->get_input_port());
builder.Connect(goal_glue->get_output_port(),
ufo_controller->GetInputPort("X_WT"));
return builder.Build();
}
std::unique_ptr<Contextd> SetInitialConditions(Diagramd* diagram) {
std::unique_ptr<Contextd> diagram_context = diagram->CreateDefaultContext();
const Systemd& plant_system = diagram->GetSubsystemByName("plant");
const MultibodyPlantd& plant =
dynamic_cast<const MultibodyPlantd&>(plant_system);
Contextd& plant_context =
diagram->GetMutableSubsystemContext(plant, diagram_context.get());
RigidTransformd X_WS(RollPitchYawd(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0));
plant.SetFreeBodyPose(&plant_context, plant.GetBodyByName("FlyingSaucer"),
X_WS);
return diagram_context;
}
void RunSimulation(Diagramd* diagram,
std::unique_ptr<Contextd> diagram_context) {
auto simulator =
std::make_unique<Simulatord>(*diagram, std::move(diagram_context));
Contextd& simulator_context = simulator->get_mutable_context();
simulator->get_mutable_integrator().set_maximum_step_size(1.0 / 50.0);
simulator->set_target_realtime_rate(1.0);
simulator->Initialize();
while (true) {
simulator->AdvanceTo(simulator_context.get_time() + 0.1);
}
}
int main() {
drake_ros_core::init();
std::unique_ptr<Diagramd> diagram = BuildSimulation();
std::unique_ptr<Contextd> diagram_context =
SetInitialConditions(diagram.get());
RunSimulation(diagram.get(), std::move(diagram_context));
return 0;
}