Primary Kuka FRI driver, only talks over realtime network FRI KONI ethernet port. More...

#include <KukaFRIdriver.hpp>

Inheritance diagram for grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >:

Collaboration diagram for grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >:

Public Types
enum	ParamIndex

typedef std::tuple< std::string, std::string, std::string, std::string, std::string, ThreadingRunMode >	Params

enum	ThreadingRunMode

Public Types inherited from grl::robot::arm::KukaUDP
enum	ParamIndex { RobotModel, localhost, localport, remotehost, remoteport, is_running_automatically }

typedef std::tuple< std::string, std::string, std::string, std::string, std::string, ThreadingRunMode >	Params

enum	ThreadingRunMode { run_manually = 0, run_automatically = 1 }

Public Member Functions
void	construct ()

void	construct (Params params)

KukaState::time_point_type	get (time_point_tag)
	Get the timestamp of the most recent armState. More...

void	get (KukaState &state)

KukaState::joint_state	getMaxVel ()

const Params &	getParams ()

double	getSecondsPerTick ()

	KukaFRIdriver (Params params=defaultParams())

bool	run_one ()

template<typename Range >
void	set (Range &&range, grl::revolute_joint_angle_open_chain_command_tag)
	Set the joint positions for the current interpolation step. More...

void	set (double duration_to_goal_command, time_duration_command_tag)
	Set the time duration expected between new position commands in ms. More...

template<typename Range >
void	set (Range &&range, grl::revolute_joint_torque_open_chain_command_tag)
	Set the applied joint torques for the current interpolation step. More...

template<typename Range >
void	set (Range &&range, grl::cartesian_wrench_command_tag)
	Set the applied wrench vector of the current interpolation step. More...

	~KukaFRIdriver ()

Public Attributes
boost::asio::io_service	device_driver_io_service

std::unique_ptr< boost::asio::io_service::work >	device_driver_workP_

std::unique_ptr< std::thread >	driver_threadP

std::shared_ptr< grl::robot::arm::KukaFRIClientDataDriver< LowLevelStepAlgorithmType > >	kukaFRIClientDataDriverP_

volatile std::size_t	m_attemptedCommunicationConsecutiveFailureCount = 0

volatile std::size_t	m_attemptedCommunicationConsecutiveSuccessCount = 0

volatile std::size_t	m_attemptedCommunicationCount = 0

volatile std::size_t	m_haveReceivedRealDataCount = 0

Additional Inherited Members
Static Public Member Functions inherited from grl::robot::arm::KukaUDP
static void	add_details_to_connection_error (boost::exception &e, Params &params)

template<typename T >
static boost::asio::ip::udp::socket	connect (T &params, boost::asio::io_service &io_service_, boost::asio::ip::udp::endpoint &sender_endpoint)
	Advanced functionality, do not use without a great reason. More...

static const Params	defaultParams ()

Detailed Description

template<typename LowLevelStepAlgorithmType = LinearInterpolation>
class grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >

Primary Kuka FRI driver, only talks over realtime network FRI KONI ethernet port.

Note: If you aren't sure, see KukaDriver in KukaDriver.hpp.; If you want to change how the lowest level high rate updates are performed, make another version of this class.

See also: KukaFRIdriver

KukaFRIdriver is a low level driver at a slightly "higher level" than the the "lowest level" KukaFRIClientDataDriver to communicate. This is the class you will want to replace if you want to change how low level position updates are changed between FRI update steps, which occur at a configurable duration of 1-5 ms.

For position based motion to work, you must set both the position you want and the time you want it to get there. This is required because the robot can move extremely fast, so accidentally setting the velocity to the max is very dangerous. If the time point is in the past, the robot will not move. If the time point is too near in the future to make it, the robot will move at the max speed towards that position.

While velocity limits are not provided explicitly by KUKA in their low level C++ API, if you send a command that violates the velocity limits specified in KUKA's documenation the arm stops immediately with an error, even over FRI.

Todo:

support generic read/write

ensure commands stay within machine limits to avoid lockup

reset and resume if lockup occurs whenever possible

in classes that use this driver, make the use of this class templated so that the low level update algorithm can change.

add getter for number of milliseconds between fri updates (1-5) aka sync_period aka send_period aka ms per tick

Definition at line 870 of file KukaFRIdriver.hpp.

Member Typedef Documentation

§ Params

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

typedef std::tuple<std::string, std::string, std::string, std::string, std::string, ThreadingRunMode> grl::robot::arm::KukaUDP::Params

Definition at line 207 of file Kuka.hpp.

Member Enumeration Documentation

§ ParamIndex

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

enum grl::robot::arm::KukaUDP::ParamIndex

Definition at line 192 of file Kuka.hpp.

§ ThreadingRunMode

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

enum grl::robot::arm::KukaUDP::ThreadingRunMode

Definition at line 203 of file Kuka.hpp.

Constructor & Destructor Documentation

§ KukaFRIdriver()

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::KukaFRIdriver ( Params params = defaultParams() )

inline

Definition at line 880 of file KukaFRIdriver.hpp.

§ ~KukaFRIdriver()

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::~KukaFRIdriver ( )

inline

Definition at line 919 of file KukaFRIdriver.hpp.

Member Function Documentation

§ construct() [1/2]

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

void grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::construct ( )

inline

Definition at line 889 of file KukaFRIdriver.hpp.

§ construct() [2/2]

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

void grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::construct ( Params params )

inline

Todo:: create a function that calls simGetObjectHandle and throws an exception when it fails

Warning: getting the ik group is optional, so it does not throw an exception

Definition at line 895 of file KukaFRIdriver.hpp.

§ get() [1/2]

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

KukaState::time_point_type grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::get ( time_point_tag )

inline

Get the timestamp of the most recent armState.

See also: KukaFRIdriver::set(Range&& range, grl::revolute_joint_angle_open_chain_command_tag)

Definition at line 1172 of file KukaFRIdriver.hpp.

§ get() [2/2]

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

void grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::get ( KukaState & state )

inline

Todo:: should this exist? is it written correctly?

Definition at line 1230 of file KukaFRIdriver.hpp.

§ getMaxVel()

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

KukaState::joint_state grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::getMaxVel ( )

inline

Todo:: make this configurable for different specific robots. Currently set for kuka lbr iiwa 14kg R820

get max velocity constraint parameter for this robot model

Definition at line 939 of file KukaFRIdriver.hpp.

§ getParams()

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

const Params& grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::getParams ( )

inline

Definition at line 917 of file KukaFRIdriver.hpp.

§ getSecondsPerTick()

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

double grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::getSecondsPerTick ( )

inline

gets the number of seconds in one message exchange "tick" aka "cycle", "time step"

Definition at line 930 of file KukaFRIdriver.hpp.

§ run_one()

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

bool grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::run_one ( )

inline

spin once, this is what you call each time you synchronize the client with the robot over UDP it is expected to be called at least once per send_period_millisec, which is the time between each FRI udp packet.

Todo:: use runtime calculation of NUM_JOINTS instead of constant

Todo:: probably only need to set this once

Todo:: construct new low level command object and pass to KukaFRIClientDataDriver this is where we used to setup a new FRI command

         grl::robot::arm::copy(friData_->monitoringMsg,

std::back_inserter(armState.commandedPosition), grl::revolute_joint_angle_open_chain_command_tag());

         grl::robot::arm::copy(friData_->monitoringMsg,

std::back_inserter(armState.commandedTorque) , grl::revolute_joint_torque_open_chain_command_tag());

Todo:: should the results of getlatest state even be possible to call without receiving real data? should the library change?

Definition at line 963 of file KukaFRIdriver.hpp.

§ set() [1/4]

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

template<typename Range >

void grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::set	(	Range &&	range,
		grl::revolute_joint_angle_open_chain_command_tag
	)

inline

Set the joint positions for the current interpolation step.

This method is only effective when the robot is in a commanding state and the set time point for reaching the destination is in the future. This function sets the goal time point for a motion to the epoch, aka "time 0" (which is in the past) for safety.

For position based motion to work, you must set both the position you want and the time you want it to get there. This is required because the robot can move extremely fast, so accidentally setting the velocity to the max is very dangerous. If the time point is in the past, the robot will not move. If the time point is too near in the future to make it, the robot will move at the max speed towards that position.

See also: KukaFRIdriver::set(TimePoint && time, time_point_command_tag) to set the destination time point in the future so the position motion can start.

Parameters

state	Object which stores the current state of the robot, including the command to send next
range	Array with the new joint positions (in radians)
tag	identifier object indicating that revolute joint angle commands should be modified

Definition at line 1131 of file KukaFRIdriver.hpp.

§ set() [2/4]

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

void grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::set	(	double	duration_to_goal_command,
		time_duration_command_tag
	)

inline

Set the time duration expected between new position commands in ms.

The driver will likely be updated every so often, such as every 25ms, and the lowest level of the driver may update even more frequently, such as every 1ms. By providing as accurate an estimate between high level updates the low level driver can smooth out the motion through interpolation (the default), or another algorithm. See LowLevelStepAlgorithmType template parameter in the KukaFRIdriver class if you want to change out the low level algorithm.

See also: KukaFRIdriver::get(time_duration_command_tag)

Parameters

duration_to_goal_command std::chrono time format representing the time duration between updates

Definition at line 1158 of file KukaFRIdriver.hpp.

§ set() [3/4]

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

template<typename Range >

void grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::set	(	Range &&	range,
		grl::revolute_joint_torque_open_chain_command_tag
	)

inline

Set the applied joint torques for the current interpolation step.

This method is only effective when the client is in a commanding state. The ControlMode of the robot has to be joint impedance control mode. The Client Command Mode has to be torque.

Parameters

state	Object which stores the current state of the robot, including the command to send next
torques	Array with the applied torque values (in Nm)
tag	identifier object indicating that the torqe value command should be modified

Definition at line 1191 of file KukaFRIdriver.hpp.

§ set() [4/4]

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

template<typename Range >

void grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::set	(	Range &&	range,
		grl::cartesian_wrench_command_tag
	)

inline

Set the applied wrench vector of the current interpolation step.

The wrench vector consists of: [F_x, F_y, F_z, tau_A, tau_B, tau_C]

F ... forces (in N) applied along the Cartesian axes of the currently used motion center. tau ... torques (in Nm) applied along the orientation angles (Euler angles A, B, C) of the currently used motion center.

This method is only effective when the client is in a commanding state. The ControlMode of the robot has to be Cartesian impedance control mode. The Client Command Mode has to be wrench.

Parameters

state	object storing the command data that will be sent to the physical device
range	wrench Applied Cartesian wrench vector, in x, y, z, roll, pitch, yaw force measurments.
tag	identifier object indicating that the wrench value command should be modified

Todo:: perhaps support some specific more useful data layouts

Definition at line 1223 of file KukaFRIdriver.hpp.

Member Data Documentation

§ device_driver_io_service

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

boost::asio::io_service grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::device_driver_io_service

Definition at line 1251 of file KukaFRIdriver.hpp.

§ device_driver_workP_

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

std::unique_ptr<boost::asio::io_service::work> grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::device_driver_workP_

Definition at line 1252 of file KukaFRIdriver.hpp.

§ driver_threadP

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

std::unique_ptr<std::thread> grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::driver_threadP

Definition at line 1253 of file KukaFRIdriver.hpp.

§ kukaFRIClientDataDriverP_

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

std::shared_ptr< grl::robot::arm::KukaFRIClientDataDriver<LowLevelStepAlgorithmType> > grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::kukaFRIClientDataDriverP_

Definition at line 1256 of file KukaFRIdriver.hpp.

§ m_attemptedCommunicationConsecutiveFailureCount

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

volatile std::size_t grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::m_attemptedCommunicationConsecutiveFailureCount = 0

Definition at line 1246 of file KukaFRIdriver.hpp.

§ m_attemptedCommunicationConsecutiveSuccessCount

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

volatile std::size_t grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::m_attemptedCommunicationConsecutiveSuccessCount = 0

Definition at line 1249 of file KukaFRIdriver.hpp.

§ m_attemptedCommunicationCount

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

volatile std::size_t grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::m_attemptedCommunicationCount = 0

Definition at line 1243 of file KukaFRIdriver.hpp.

§ m_haveReceivedRealDataCount

template<typename LowLevelStepAlgorithmType = LinearInterpolation>

volatile std::size_t grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >::m_haveReceivedRealDataCount = 0

Definition at line 1238 of file KukaFRIdriver.hpp.

The documentation for this class was generated from the following file:

KukaFRIdriver.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<typename LowLevelStepAlgorithmType = LinearInterpolation> class grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >

Member Typedef Documentation

§ Params

Member Enumeration Documentation

§ ParamIndex

§ ThreadingRunMode

Constructor & Destructor Documentation

§ KukaFRIdriver()

§ ~KukaFRIdriver()

Member Function Documentation

§ construct() [1/2]

§ construct() [2/2]

§ get() [1/2]

§ get() [2/2]

§ getMaxVel()

§ getParams()

§ getSecondsPerTick()

§ run_one()

§ set() [1/4]

§ set() [2/4]

§ set() [3/4]

§ set() [4/4]

Member Data Documentation

§ device_driver_io_service

§ device_driver_workP_

§ driver_threadP

§ kukaFRIClientDataDriverP_

§ m_attemptedCommunicationConsecutiveFailureCount

§ m_attemptedCommunicationConsecutiveSuccessCount

§ m_attemptedCommunicationCount

§ m_haveReceivedRealDataCount

template<typename LowLevelStepAlgorithmType = LinearInterpolation>
class grl::robot::arm::KukaFRIdriver< LowLevelStepAlgorithmType >