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[xs_sdk_sim] include estimated velocity in joint_states #56

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[xs_sdk_sim] include estimated velocity in joint_states #56

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18 changes: 17 additions & 1 deletion interbotix_ros_xseries/interbotix_xs_sdk/scripts/xs_sdk_sim
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ import yaml
import rospy
import threading
import numpy as np
from copy import deepcopy
from interbotix_xs_msgs.msg import *
from interbotix_xs_msgs.srv import *
from urdf_parser_py.urdf import URDF
Expand All @@ -17,10 +18,12 @@ class InterbotixRobotXS(object):
def __init__(self):
self.rd = None # Holds the URDF loaded from the ROS parameter server
self.timer_hz = 20 # Rate [Hz] at which the ROS Timer (in charge of publishing joint states) should run
self.dt = 1.0 / float(self.timer_hz) # Time step [seconds], duration that the ROS Timer (in charge of publishing joint states) should run
self.js_topic = None # Joint States topic
self.move_thresh = 300 # Threshold [in milliseconds] above which desired goal positions should be split up into waypoints and simulated
self.execute_joint_traj = False # Boolean that is True if a trajectory is currently being executed; False otherwise
self.joint_states = JointState() # Current state of all joints
self.prev_joint_states = None # Previous state of all joints (used to estimate velocity)
self.cmd_mutex = threading.Lock() # Mutex to prevent reading/writing to self.commands from different threads
self.commands = {} # Holds the desired commands for each joint
self.sleep_map = {} # Maps a joint name with its sleep position [rad]
Expand All @@ -43,7 +46,7 @@ class InterbotixRobotXS(object):
rospy.Subscriber('commands/joint_single', JointSingleCommand, self.robot_sub_command_single)
rospy.Subscriber('commands/joint_trajectory', JointTrajectoryCommand, self.robot_sub_command_traj)
self.pub_joint_states = rospy.Publisher(self.js_topic, JointState, queue_size=1)
rospy.Timer(rospy.Duration(1.0/self.timer_hz), self.robot_update_joint_states)
rospy.Timer(rospy.Duration(self.dt), self.robot_update_joint_states)

### @brief Loads the URDF to get joint limit information
def get_urdf_info(self):
Expand Down Expand Up @@ -472,7 +475,20 @@ class InterbotixRobotXS(object):
self.joint_states.position[self.js_index_map[gpr["right_finger"]]] = -lin_pos

self.joint_states.header.stamp = rospy.Time.now()
self.joint_states.velocity = [0.0]*len(self.joint_states.position)
if self.prev_joint_states is not None:

for curr_idx, name in enumerate(self.joint_states.name):
pc = self.joint_states.position[curr_idx] # current position
try:
prev_idx = self.prev_joint_states.name.index(name)
pp = self.prev_joint_states.position[prev_idx] # previous position
except:
pp = deepcopy(pc)
self.joint_states.velocity[curr_idx] = (pc - pp) / self.dt

self.pub_joint_states.publish(self.joint_states)
self.prev_joint_states = deepcopy(self.joint_states)

def main():
rospy.init_node('xs_sdk_sim')
Expand Down