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fix: prioritize FRI worker and expose command telemetry

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This commit is contained in:
Даниил Грабарь
2026-09-16 14:54:44 +10:00
parent 97e3a5f60c
commit fd66c8c7ec
6 changed files with 48 additions and 6 deletions
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src/iiwa_controller/include/iiwa_controller/FRIClient.h
+1
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@@ -17,6 +17,7 @@ struct IIWAStateSnapshot
std::array<double, 7> measured_tau{}; // measured torque [Nm]
std::array<double, 7> external_tau{}; // estimated external torque [Nm]
std::array<double, 7> ipo_pos{}; // interpolator position [rad]
std::array<double, 7> command_pos{}; // position sent in the current FRI reply [rad]
double sample_time{0.0};
KUKA::FRI::ESessionState session{KUKA::FRI::IDLE};
KUKA::FRI::EConnectionQuality quality{KUKA::FRI::POOR};
src/iiwa_controller/include/iiwa_controller/IIWAHardwareInterface.hpp
+3
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@@ -61,6 +61,7 @@ private:
std::string robot_ip_;
int fri_port_{30200};
int fri_cycle_ms_{5};
int rt_prio_{80};
bool simulate_{false};
// Объекты FRI SDK
std::unique_ptr<FRIClient> fri_client_;
@@ -86,6 +87,8 @@ private:
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_vel_;
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_eff_;
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_ext_;
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_ipo_;
std::array<hardware_interface::StateInterface::SharedPtr, N_JOINTS> h_fri_cmd_;
std::array<hardware_interface::CommandInterface::SharedPtr, N_JOINTS> h_cmd_pos_;
src/iiwa_controller/src/FRIClient.cpp
+6
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@@ -29,6 +29,10 @@ void FRIClient::captureData(bool commanding)
std::copy_n(state.getMeasuredJointPosition(), N_JOINTS, current_.measured_pos.begin());
std::copy_n(state.getMeasuredTorque(), N_JOINTS, current_.measured_tau.begin());
std::copy_n(state.getExternalTorque(), N_JOINTS, current_.external_tau.begin());
if (!commanding) {
// No application command exists outside a commanding FRI state.
current_.command_pos = current_.measured_pos;
}
current_.sample_time = state.getSampleTime();
current_.session = state.getSessionState();
current_.quality = state.getConnectionQuality();
@@ -117,6 +121,7 @@ void FRIClient::waitForCommand()
validateCommanding();
LBRClient::waitForCommand(); // SDK 1.16 mirrors IPO, not measured position.
sent_pos_ = target_pos_ = current_.ipo_pos;
current_.command_pos = sent_pos_;
initialized_ = true;
last_command_at_ = current_.received_at;
publishState();
@@ -154,6 +159,7 @@ void FRIClient::command()
sent_pos_[i] += std::clamp(step, -max_velocity_[i] * dt, max_velocity_[i] * dt);
}
robotCommand().setJointPosition(sent_pos_.data());
current_.command_pos = sent_pos_;
publishState();
}
src/iiwa_controller/src/IIWAHardwareInterface.cpp
+25 -2
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@@ -15,6 +15,7 @@
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "rclcpp/rclcpp.hpp"
#include "realtime_tools/realtime_helpers.hpp"
PLUGINLIB_EXPORT_CLASS(
iiwa_controller::IIWAHardwareInterface,
@@ -87,6 +88,11 @@ CallbackReturn IIWAHardwareInterface::on_init(
if (used != cycle.size() || fri_cycle_ms_ < 1 || fri_cycle_ms_ > 100) {
throw std::invalid_argument("Invalid fri_cycle_ms (expected 1..100)");
}
const auto rt_prio = getParam(info, "rt_prio", "80");
rt_prio_ = std::stoi(rt_prio, &used);
if (used != rt_prio.size() || rt_prio_ < 1 || rt_prio_ > 99) {
throw std::invalid_argument("Invalid rt_prio (expected 1..99)");
}
const auto simulation = getParam(info, "simulate", "false");
if (simulation != "true" && simulation != "false") {
throw std::invalid_argument("simulate must be true or false");
@@ -151,15 +157,17 @@ std::vector<hardware_interface::InterfaceDescription>
IIWAHardwareInterface::export_unlisted_state_interface_descriptions()
{
std::vector<hardware_interface::InterfaceDescription> descs;
descs.reserve(N_JOINTS);
descs.reserve(3 * N_JOINTS);
for (size_t i = 0; i < N_JOINTS; ++i) {
for (const auto * name : {"external_torque", "ipo_position", "fri_command_position"}) {
hardware_interface::InterfaceInfo if_info;
if_info.name = "external_torque";
if_info.name = name;
if_info.data_type = "double";
if_info.initial_value = "0.0";
descs.emplace_back(info_.joints[i].name, if_info);
}
}
return descs;
}
@@ -195,6 +203,8 @@ CallbackReturn IIWAHardwareInterface::on_activate(const rclcpp_lifecycle::State
h_vel_[i] = get_state_interface_handle(name + "/velocity");
h_eff_[i] = get_state_interface_handle(name + "/effort");
h_ext_[i] = get_state_interface_handle(name + "/external_torque");
h_ipo_[i] = get_state_interface_handle(name + "/ipo_position");
h_fri_cmd_[i] = get_state_interface_handle(name + "/fri_command_position");
h_cmd_pos_[i] = get_command_interface_handle(name + "/position");
}
if (!simulate_) {
@@ -233,6 +243,8 @@ CallbackReturn IIWAHardwareInterface::on_activate(const rclcpp_lifecycle::State
set_state(h_vel_[i], 0.0, true);
set_state(h_eff_[i], simulate_ ? 0.0 : last_snapshot_.measured_tau[i], true);
set_state(h_ext_[i], simulate_ ? 0.0 : last_snapshot_.external_tau[i], true);
set_state(h_ipo_[i], position, true);
set_state(h_fri_cmd_[i], position, true);
set_command(h_cmd_pos_[i], position, true);
}
} catch (const std::exception & e) {
@@ -291,6 +303,13 @@ CallbackReturn IIWAHardwareInterface::on_error(const rclcpp_lifecycle::State & s
void IIWAHardwareInterface::friThreadFunc()
{
try {
if (!realtime_tools::configure_sched_fifo(rt_prio_)) {
RCLCPP_WARN(rclcpp::get_logger(LOG),
"FRI worker could not enable FIFO priority %d; configure realtime permissions for this user",
rt_prio_);
} else {
RCLCPP_INFO(rclcpp::get_logger(LOG), "FRI worker uses FIFO priority %d", rt_prio_);
}
bool synchronized = false;
const auto startup_deadline = std::chrono::steady_clock::now() + std::chrono::seconds(15);
while (fri_running_.load()) {
@@ -379,6 +398,8 @@ hardware_interface::return_type IIWAHardwareInterface::read(
set_state(h_vel_[i], 0.0, false);
set_state(h_eff_[i], 0.0, false);
set_state(h_ext_[i], 0.0, false);
set_state(h_ipo_[i], pos, false);
set_state(h_fri_cmd_[i], pos, false);
}
return hardware_interface::return_type::OK;
}
@@ -407,6 +428,8 @@ hardware_interface::return_type IIWAHardwareInterface::read(
set_state(h_vel_[i], velocity_[i], false);
set_state(h_eff_[i], snap.measured_tau[i], false);
set_state(h_ext_[i], snap.external_tau[i], false);
set_state(h_ipo_[i], snap.ipo_valid ? snap.ipo_pos[i] : snap.measured_pos[i], false);
set_state(h_fri_cmd_[i], snap.command_pos[i], false);
}
return hardware_interface::return_type::OK;
src/iiwa_controller/test/test_hardware.cpp
+8
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@@ -45,6 +45,14 @@ TEST(Hardware, RejectsMalformedPortWithoutThrowing)
EXPECT_EQ(hardware.on_init(params), Return::ERROR);
}
TEST(Hardware, RejectsInvalidRealtimePriority)
{
Hardware hardware;
auto params = parameters();
params.hardware_info.hardware_parameters["rt_prio"] = "0";
EXPECT_EQ(hardware.on_init(params), Return::ERROR);
}
TEST(Hardware, RejectsWrongJointOrderAndMissingInterfaces)
{
auto params = parameters();
src/iiwa_description/urdf/iiwa7.urdf.xacro
+1
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@@ -145,6 +145,7 @@
<param name="robot_ip">$(arg robot_ip)</param>
<param name="fri_port">$(arg fri_port)</param>
<param name="fri_cycle_ms">$(arg fri_cycle_ms)</param>
<param name="rt_prio">80</param>
<param name="simulate">false</param>
</hardware>