rm_robot_hw_sim.h

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//
// Created by qiayuan on 2/10/21.
//
 
#pragma once
 
#include <gazebo_ros_control/default_robot_hw_sim.h>
#include <rm_common/hardware_interface/rm_imu_sensor_interface.h>
#include <rm_common/hardware_interface/robot_state_interface.h>
#include <rm_common/hardware_interface/hybrid_joint_interface.h>
#include <std_srvs/Trigger.h>
 
namespace rm_gazebo
{
struct HybridJointData
{
  hardware_interface::JointHandle joint_;
  double posDes_{}, velDes_{}, kp_{}, kd_{}, ff_{};
};
 
struct HybridJointCommand
{
  ros::Time stamp_;
  double posDes_{}, velDes_{}, kp_{}, kd_{}, ff_{};
};
 
struct ImuData
{
  gazebo::physics::LinkPtr link_ptr;
  ros::Time time_stamp;
  double ori[4];
  double ori_cov[9];
  double angular_vel[3];
  double angular_vel_cov[9];
  double linear_acc[3];
  double linear_acc_cov[9];
};
 
class RmRobotHWSim : public gazebo_ros_control::DefaultRobotHWSim
{
public:
  bool initSim(const std::string& robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model,
               const urdf::Model* urdf_model,
               std::vector<transmission_interface::TransmissionInfo> transmissions) override;
  void readSim(ros::Time time, ros::Duration period) override;
  void writeSim(ros::Time time, ros::Duration period) override;
 
private:
  void parseImu(XmlRpc::XmlRpcValue& imu_datas, const gazebo::physics::ModelPtr& parent_model);
 
  static bool switchImuStatus(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
  {
    disable_imu_ = !disable_imu_;
    res.success = true;
    std::string imu_status_message = disable_imu_ ? "disable" : "enable";
    res.message = "Imu status: " + imu_status_message;
    return true;
  }
 
  rm_control::HybridJointInterface hybridJointInterface_;
  rm_control::RobotStateInterface robot_state_interface_;
  hardware_interface::ImuSensorInterface imu_sensor_interface_;
  rm_control::RmImuSensorInterface rm_imu_sensor_interface_;
  gazebo::physics::WorldPtr world_;
  std::list<ImuData> imu_datas_;
  ros::ServiceServer switch_imu_service_;
 
  std::list<HybridJointData> hybridJointDatas_;
  std::unordered_map<std::string, std::deque<HybridJointCommand> > cmdBuffer_;
 
  static bool disable_imu_;
  double delay_{};
};
 
}  // namespace rm_gazebo