Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[fix] according to name to subscriber joint command #19

Merged
merged 1 commit into from
Mar 12, 2025
Merged

[fix] according to name to subscriber joint command #19

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 10 additions & 8 deletions src/module/mujoco_sim_module/subscriber/joint_actuator_ros2_subscriber.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,26 +86,28 @@ void JointActuatorRos2Subscriber::EventHandle(const std::shared_ptr<const sensor
const auto& joint_options = options_.joints[ii];
const auto command = commands->joints[ii];

if (std::ranges::find(joint_names_vec_, command.name) == joint_names_vec_.end()) [[unlikely]] {
auto itr = std::ranges::find(joint_names_vec_, command.name);
if (itr == joint_names_vec_.end()) [[unlikely]] {
AIMRT_WARN("Invalid msg for topic '{}', msg: {}, Joint name '{}' is not matched.",
subscriber_.GetTopic(), sensor_ros2::msg::to_yaml(*commands), command.name);

delete[] new_command_array;
return;
}
uint32_t joint_idx = std::distance(joint_names_vec_.begin(), itr);

if (joint_options.bind_actuator_type == "position") {
new_command_array[ii] = command.position;
new_command_array[joint_idx] = command.position;
} else if (joint_options.bind_actuator_type == "velocity") {
new_command_array[ii] = command.velocity;
new_command_array[joint_idx] = command.velocity;
} else {
// motor
double state_posiotin = d_->qpos[actuator_bind_joint_sensor_addr_vec_[ii].pos_addr];
double state_velocity = d_->qvel[actuator_bind_joint_sensor_addr_vec_[ii].vel_addr];
double state_posiotin = d_->qpos[actuator_bind_joint_sensor_addr_vec_[joint_idx].pos_addr];
double state_velocity = d_->qvel[actuator_bind_joint_sensor_addr_vec_[joint_idx].vel_addr];

new_command_array[ii] = command.effort +
command.stiffness * (command.position - state_posiotin) +
command.damping * (command.velocity - state_velocity);
new_command_array[joint_idx] = command.effort +
command.stiffness * (command.position - state_posiotin) +
command.damping * (command.velocity - state_velocity);
}
}

Expand Down
18 changes: 10 additions & 8 deletions src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -87,26 +87,28 @@ void JointActuatorSubscriber::EventHandle(const std::shared_ptr<const aimrt::pro
const auto& joint_options = options_.joints[ii];
const auto& command = commands->joints()[ii];

if (std::ranges::find(joint_names_vec_, command.name()) == joint_names_vec_.end()) [[unlikely]] {
auto itr = std::ranges::find(joint_names_vec_, command.name());
if (itr == joint_names_vec_.end()) [[unlikely]] {
AIMRT_WARN("Invalid msg for topic '{}', msg: {}",
subscriber_.GetTopic(), aimrt::Pb2CompactJson(*commands));

delete[] new_command_array;
return;
}
uint32_t joint_idx = std::distance(joint_names_vec_.begin(), itr);

if (joint_options.bind_actuator_type == "position") {
new_command_array[ii] = command.position();
new_command_array[joint_idx] = command.position();
} else if (joint_options.bind_actuator_type == "velocity") {
new_command_array[ii] = command.velocity();
new_command_array[joint_idx] = command.velocity();
} else {
// motor
double state_posiotin = d_->qpos[actuator_bind_joint_sensor_addr_vec_[ii].pos_addr];
double state_velocity = d_->qvel[actuator_bind_joint_sensor_addr_vec_[ii].vel_addr];
double state_posiotin = d_->qpos[actuator_bind_joint_sensor_addr_vec_[joint_idx].pos_addr];
double state_velocity = d_->qvel[actuator_bind_joint_sensor_addr_vec_[joint_idx].vel_addr];

new_command_array[ii] = command.effort() +
command.stiffness() * (command.position() - state_posiotin) +
command.damping() * (command.velocity() - state_velocity);
new_command_array[joint_idx] = command.effort() +
command.stiffness() * (command.position() - state_posiotin) +
command.damping() * (command.velocity() - state_velocity);
}
}

Expand Down