NASA_Challenge_[@xfiderek] Add canadarm_wrench_publisher package (spa…

…ce-ros#42).

canadarm_wrench_publisher package demonstrates how to use trick bridge in any ros2 node.
It is also used in the end-to-end demo.

ros_trick/ros_src/canadarm_wrench_publisher/canadarm_wrench_publisher/__init__.py

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+# Copyright 2024 Blazej Fiderek (xfiderek)
+# 
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#     https://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.

ros_trick/ros_src/canadarm_wrench_publisher/canadarm_wrench_publisher/canadarm_wrench_publisher_node.py

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+# Copyright 2024 Blazej Fiderek (xfiderek)
+# 
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#     https://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import time
+
+import rclpy
+from geometry_msgs.msg import WrenchStamped
+from rclpy.executors import SingleThreadedExecutor
+from rclpy.node import Node
+from ros_trick_bridge.trick_variable_server_client import TrickVariableServerClient
+from std_msgs.msg import Header
+
+
+class WrenchPublisher(Node):
+    def __init__(self):
+        super().__init__("wrench_publisher")
+        self._trick_host = "localhost"
+        self._trick_port = 49765
+        self._ndof = 7
+        self._trick_variable_names = [
+            item
+            for i in range(self._ndof)
+            for item in [
+                f"CanadarmManip.manip.applied_torque[{i}]",
+                f"CanadarmManip.manip.friction_torque[{i}]",
+            ]
+        ]
+
+        # let everything start
+        time.sleep(5.0)
+
+        self.get_logger().info("starting trick variable server")
+        self._trick_variable_server_client = TrickVariableServerClient(
+            host=self._trick_host,
+            port=self._trick_port,
+            client_tag="wrench_pub",
+            trick_variable_names=self._trick_variable_names,
+            trick_var_cycle_time=0.1,
+            on_receive_callback=self.trick_data_callback,
+        )
+        self.link_frames = ["B1", "B2", "B3", "B4", "B5", "B6", "EE_SSRMS"]
+        self.rot_axes = [
+            [0.0, 0.0, 1.0],
+            [1.0, 0.0, 0.0],
+            [0.0, 0.0, 1.0],
+            [0.0, 0.0, 1.0],
+            [0.0, 0.0, -1.0],
+            [1.0, 0.0, 0.0],
+            [0.0, 0.0, 1.0],
+        ]
+        self.get_logger().info("spawning wrench publishers")
+        self.wrench_publishers = [
+            publisher
+            for link_name in self.link_frames
+            for publisher in [
+                self.create_publisher(
+                    WrenchStamped, f"wrench_topic/{link_name}/total_torque", 10
+                ),
+                self.create_publisher(
+                    WrenchStamped, f"wrench_topic/{link_name}/friction_torque", 10
+                ),
+            ]
+        ]
+
+        self._trick_variable_server_client.start_listening()
+
+    def trick_data_callback(self, trick_data):
+        for i in range(self._ndof):
+            total_torque_var_name = self._trick_variable_names[2 * i]
+            friction_torque_var_name = self._trick_variable_names[2 * i + 1]
+            total_torque_val = float(trick_data[total_torque_var_name])
+            friction_torque_val = float(trick_data[friction_torque_var_name])
+            total_torque_pub = self.wrench_publishers[2 * i]
+            friction_torque_pub = self.wrench_publishers[2 * i + 1]
+            now = self.get_clock().now().to_msg()
+
+            msg = WrenchStamped()
+            msg.header = Header()
+            msg.header.frame_id = self.link_frames[i]
+            msg.header.stamp = now
+
+            # send total torque
+            msg.wrench.torque.x = self.rot_axes[i][0] * total_torque_val
+            msg.wrench.torque.y = self.rot_axes[i][1] * total_torque_val
+            msg.wrench.torque.z = self.rot_axes[i][2] * total_torque_val
+            total_torque_pub.publish(msg)
+
+            # send friction torque
+            msg.wrench.torque.x = self.rot_axes[i][0] * friction_torque_val
+            msg.wrench.torque.y = self.rot_axes[i][1] * friction_torque_val
+            msg.wrench.torque.z = self.rot_axes[i][2] * friction_torque_val
+            friction_torque_pub.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = WrenchPublisher()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

ros_trick/ros_src/canadarm_wrench_publisher/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>canadarm_wrench_publisher</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">blazej</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros_trick/ros_src/canadarm_wrench_publisher/resource/canadarm_wrench_publisher

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+// Copyright 2024 Blazej Fiderek (xfiderek)
+// 
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+// 
+//     https://www.apache.org/licenses/LICENSE-2.0
+// 
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+

ros_trick/ros_src/canadarm_wrench_publisher/setup.cfg

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+[develop]
+script_dir=$base/lib/canadarm_wrench_publisher
+[install]
+install_scripts=$base/lib/canadarm_wrench_publisher

ros_trick/ros_src/canadarm_wrench_publisher/setup.py

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+from setuptools import find_packages, setup
+
+package_name = "canadarm_wrench_publisher"
+
+setup(
+    name=package_name,
+    version="0.0.0",
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="Blazej Fiderek (xfiderek)",
+    maintainer_email="[email protected]",
+    description="Get joint torques from trick and publish them as GeometryWrench",
+    license="Apache-2.0",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "canadarm_wrench_publisher_node = canadarm_wrench_publisher.canadarm_wrench_publisher_node:main"
+        ],
+    },
+)