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Remove all build warnings #1233

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merged 4 commits into from
Jan 17, 2025
Merged

Remove all build warnings #1233

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9289769
Update realtime_tools header extensions
urfeex Jan 14, 2025
542105b
Handle nodiscard return value of command_interface.set_value
urfeex Jan 14, 2025
5b96819
Use new path of including generated parameter headers
urfeex Jan 14, 2025
2158dab
Add missing generate_parameter_library dependency in package.xml
urfeex Jan 15, 2025
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4 changes: 2 additions & 2 deletions ur_controllers/include/ur_controllers/force_mode_controller.hpp
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Expand Up @@ -37,17 +37,17 @@
#pragma once
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <realtime_tools/realtime_buffer.h>
#include <array>
#include <memory>

#include <controller_interface/controller_interface.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <realtime_tools/realtime_buffer.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_srvs/srv/trigger.hpp>
#include <ur_msgs/srv/set_force_mode.hpp>

#include "force_mode_controller_parameters.hpp"
#include "ur_controllers/force_mode_controller_parameters.hpp"

namespace ur_controllers
{
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2 changes: 1 addition & 1 deletion ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp
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Expand Up @@ -53,7 +53,7 @@
#include <rclcpp/duration.hpp>
#include "std_msgs/msg/bool.hpp"

#include "freedrive_mode_controller_parameters.hpp"
#include "ur_controllers/freedrive_mode_controller_parameters.hpp"

namespace ur_controllers
{
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2 changes: 1 addition & 1 deletion ur_controllers/include/ur_controllers/gpio_controller.hpp
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Expand Up @@ -57,7 +57,7 @@
#include "rclcpp/time.hpp"
#include "rclcpp/duration.hpp"
#include "std_msgs/msg/bool.hpp"
#include "gpio_controller_parameters.hpp"
#include "ur_controllers/gpio_controller_parameters.hpp"

namespace ur_controllers
{
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7 changes: 3 additions & 4 deletions ur_controllers/include/ur_controllers/passthrough_trajectory_controller.hpp
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Expand Up @@ -43,9 +43,6 @@

#include <stdint.h>

#include <realtime_tools/realtime_buffer.h>
#include <realtime_tools/realtime_server_goal_handle.h>

#include <functional>
#include <limits>
#include <memory>
Expand All @@ -54,6 +51,8 @@
#include <vector>

#include <controller_interface/controller_interface.hpp>
#include <realtime_tools/realtime_buffer.hpp>
#include <realtime_tools/realtime_server_goal_handle.hpp>
#include <rclcpp_action/server.hpp>
#include <rclcpp_action/create_server.hpp>
#include <rclcpp/rclcpp.hpp>
Expand All @@ -65,7 +64,7 @@
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include <control_msgs/action/follow_joint_trajectory.hpp>

#include "passthrough_trajectory_controller_parameters.hpp"
#include "ur_controllers/passthrough_trajectory_controller_parameters.hpp"

namespace ur_controllers
{
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2 changes: 1 addition & 1 deletion ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
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Expand Up @@ -45,7 +45,7 @@
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/duration.hpp"
#include "scaled_joint_trajectory_controller_parameters.hpp"
#include "ur_controllers/scaled_joint_trajectory_controller_parameters.hpp"

namespace ur_controllers
{
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2 changes: 1 addition & 1 deletion ur_controllers/include/ur_controllers/speed_scaling_state_broadcaster.hpp
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Expand Up @@ -48,7 +48,7 @@
#include "rclcpp/time.hpp"
#include "rclcpp/duration.hpp"
#include "std_msgs/msg/float64.hpp"
#include "speed_scaling_state_broadcaster_parameters.hpp"
#include "ur_controllers/speed_scaling_state_broadcaster_parameters.hpp"

namespace ur_controllers
{
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4 changes: 2 additions & 2 deletions ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
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Expand Up @@ -44,10 +44,10 @@
#include <memory>

#include <controller_interface/controller_interface.hpp>
#include <realtime_tools/realtime_box.h>
#include <realtime_tools/realtime_box.hpp>

#include "ur_msgs/srv/get_robot_software_version.hpp"
#include "ur_configuration_controller_parameters.hpp"
#include "ur_controllers/ur_configuration_controller_parameters.hpp"

namespace ur_controllers
{
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1 change: 1 addition & 0 deletions ur_controllers/package.xml
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Expand Up @@ -25,6 +25,7 @@

<depend>angles</depend>
<depend>controller_interface</depend>
<depend>generate_parameter_library</depend>
<depend>geometry_msgs</depend>
<depend>hardware_interface</depend>
<depend>joint_trajectory_controller</depend>
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96 changes: 62 additions & 34 deletions ur_controllers/src/force_mode_controller.cpp
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Expand Up @@ -156,7 +156,9 @@ controller_interface::CallbackReturn
ur_controllers::ForceModeController::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
{
// Stop force mode if this controller is deactivated.
command_interfaces_[CommandInterfaces::FORCE_MODE_DISABLE_CMD].set_value(1.0);
if (!command_interfaces_[CommandInterfaces::FORCE_MODE_DISABLE_CMD].set_value(1.0)) {
return LifecycleNodeInterface::CallbackReturn::ERROR;
}
return LifecycleNodeInterface::CallbackReturn::SUCCESS;
}

Expand All @@ -175,54 +177,80 @@ controller_interface::return_type ur_controllers::ForceModeController::update(co

// Publish state of force_mode?
if (change_requested_) {
bool write_successful = true;
if (force_mode_active_) {
const auto force_mode_parameters = force_mode_params_buffer_.readFromRT();
command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_X].set_value(force_mode_parameters->task_frame[0]);
command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_Y].set_value(force_mode_parameters->task_frame[1]);
command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_Z].set_value(force_mode_parameters->task_frame[2]);
command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_RX].set_value(force_mode_parameters->task_frame[3]);
command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_RY].set_value(force_mode_parameters->task_frame[4]);
command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_RZ].set_value(force_mode_parameters->task_frame[5]);

command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_X].set_value(
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_X].set_value(
force_mode_parameters->task_frame[0]);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_Y].set_value(
force_mode_parameters->task_frame[1]);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_Z].set_value(
force_mode_parameters->task_frame[2]);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_RX].set_value(
force_mode_parameters->task_frame[3]);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_RY].set_value(
force_mode_parameters->task_frame[4]);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_TASK_FRAME_RZ].set_value(
force_mode_parameters->task_frame[5]);

write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_X].set_value(
force_mode_parameters->selection_vec[0]);
command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_Y].set_value(
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_Y].set_value(
force_mode_parameters->selection_vec[1]);
command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_Z].set_value(
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_Z].set_value(
force_mode_parameters->selection_vec[2]);
command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_RX].set_value(
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_RX].set_value(
force_mode_parameters->selection_vec[3]);
command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_RY].set_value(
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_RY].set_value(
force_mode_parameters->selection_vec[4]);
command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_RZ].set_value(
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_RZ].set_value(
force_mode_parameters->selection_vec[5]);

command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_X].set_value(force_mode_parameters->wrench.force.x);
command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_Y].set_value(force_mode_parameters->wrench.force.y);
command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_Z].set_value(force_mode_parameters->wrench.force.z);
command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RX].set_value(force_mode_parameters->wrench.torque.x);
command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RY].set_value(force_mode_parameters->wrench.torque.y);
command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RZ].set_value(force_mode_parameters->wrench.torque.z);

command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_X].set_value(force_mode_parameters->limits[0]);
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_Y].set_value(force_mode_parameters->limits[1]);
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_Z].set_value(force_mode_parameters->limits[2]);
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_RX].set_value(force_mode_parameters->limits[3]);
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_RY].set_value(force_mode_parameters->limits[4]);
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_RZ].set_value(force_mode_parameters->limits[5]);

command_interfaces_[CommandInterfaces::FORCE_MODE_TYPE].set_value(force_mode_parameters->type);
command_interfaces_[CommandInterfaces::FORCE_MODE_DAMPING].set_value(force_mode_parameters->damping_factor);
command_interfaces_[CommandInterfaces::FORCE_MODE_GAIN_SCALING].set_value(force_mode_parameters->gain_scaling);
write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_X].set_value(force_mode_parameters->wrench.force.x);
write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_Y].set_value(force_mode_parameters->wrench.force.y);
write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_Z].set_value(force_mode_parameters->wrench.force.z);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RX].set_value(
force_mode_parameters->wrench.torque.x);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RY].set_value(
force_mode_parameters->wrench.torque.y);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RZ].set_value(
force_mode_parameters->wrench.torque.z);

write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_X].set_value(force_mode_parameters->limits[0]);
write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_Y].set_value(force_mode_parameters->limits[1]);
write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_Z].set_value(force_mode_parameters->limits[2]);
write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_RX].set_value(force_mode_parameters->limits[3]);
write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_RY].set_value(force_mode_parameters->limits[4]);
write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_RZ].set_value(force_mode_parameters->limits[5]);

write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_TYPE].set_value(force_mode_parameters->type);
write_successful &=
command_interfaces_[CommandInterfaces::FORCE_MODE_DAMPING].set_value(force_mode_parameters->damping_factor);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_GAIN_SCALING].set_value(
force_mode_parameters->gain_scaling);

// Signal that we are waiting for confirmation that force mode is activated
command_interfaces_[CommandInterfaces::FORCE_MODE_ASYNC_SUCCESS].set_value(ASYNC_WAITING);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_ASYNC_SUCCESS].set_value(ASYNC_WAITING);
async_state_ = ASYNC_WAITING;
} else {
command_interfaces_[CommandInterfaces::FORCE_MODE_DISABLE_CMD].set_value(1.0);
command_interfaces_[CommandInterfaces::FORCE_MODE_ASYNC_SUCCESS].set_value(ASYNC_WAITING);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_DISABLE_CMD].set_value(1.0);
write_successful &= command_interfaces_[CommandInterfaces::FORCE_MODE_ASYNC_SUCCESS].set_value(ASYNC_WAITING);
async_state_ = ASYNC_WAITING;
}
if (!write_successful) {
RCLCPP_ERROR(get_node()->get_logger(), "Could not write to a command interfaces.");
return controller_interface::return_type::ERROR;
}
change_requested_ = false;
}

Expand Down
24 changes: 18 additions & 6 deletions ur_controllers/src/freedrive_mode_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -153,7 +153,10 @@ ur_controllers::FreedriveModeController::on_activate(const rclcpp_lifecycle::Sta
[&](auto& interface) { return (interface.get_name() == interface_name); });
if (it != command_interfaces_.end()) {
abort_command_interface_ = *it;
abort_command_interface_->get().set_value(0.0);
if (!abort_command_interface_->get().set_value(0.0)) {
RCLCPP_ERROR(get_node()->get_logger(), "Could not write to abort command interface.");
return controller_interface::CallbackReturn::ERROR;
}
} else {
RCLCPP_ERROR(get_node()->get_logger(), "Did not find '%s' in command interfaces.", interface_name.c_str());
return controller_interface::CallbackReturn::ERROR;
Expand All @@ -166,7 +169,10 @@ ur_controllers::FreedriveModeController::on_activate(const rclcpp_lifecycle::Sta
controller_interface::CallbackReturn
ur_controllers::FreedriveModeController::on_cleanup(const rclcpp_lifecycle::State& /*previous_state*/)
{
abort_command_interface_->get().set_value(1.0);
if (!abort_command_interface_->get().set_value(1.0)) {
RCLCPP_ERROR(get_node()->get_logger(), "Could not write to abort command interface.");
return controller_interface::CallbackReturn::ERROR;
}

stop_logging_thread();

Expand All @@ -190,6 +196,7 @@ controller_interface::return_type ur_controllers::FreedriveModeController::updat
async_state_ = async_success_command_interface_->get().get_value();

if (change_requested_) {
bool write_success = true;
if (freedrive_active_) {
// Check if the freedrive mode has been aborted from the hardware interface. E.g. the robot was stopped on the
// teach pendant.
Expand All @@ -202,22 +209,27 @@ controller_interface::return_type ur_controllers::FreedriveModeController::updat
RCLCPP_INFO(get_node()->get_logger(), "Received command to start Freedrive Mode.");

// Set command interface to enable
enable_command_interface_->get().set_value(1.0);
write_success &= enable_command_interface_->get().set_value(1.0);

async_success_command_interface_->get().set_value(ASYNC_WAITING);
write_success &= async_success_command_interface_->get().set_value(ASYNC_WAITING);
async_state_ = ASYNC_WAITING;
}

} else {
RCLCPP_INFO(get_node()->get_logger(), "Received command to stop Freedrive Mode.");

abort_command_interface_->get().set_value(1.0);
write_success &= abort_command_interface_->get().set_value(1.0);

async_success_command_interface_->get().set_value(ASYNC_WAITING);
write_success &= async_success_command_interface_->get().set_value(ASYNC_WAITING);
async_state_ = ASYNC_WAITING;
}
first_log_ = true;
change_requested_ = false;

if (!write_success) {
RCLCPP_ERROR(get_node()->get_logger(), "Could not write to a command interfaces.");
return controller_interface::return_type::ERROR;
}
}

if ((async_state_ == 1.0) && (first_log_)) {
Expand Down
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