Class TrossenArmDriver

Class Documentation

class TrossenArmDriver

Trossen Arm Driver.

Public Functions

~TrossenArmDriver()

Destroy the Trossen Arm Driver object.

void configure(Model model, EndEffectorProperties end_effector, const std::string serv_ip, bool clear_error)

Configure the driver.

Parameters:

  • model – Model of the robot

  • end_effector – End effector properties

  • serv_ip – IP address of the robot

  • clear_error – Whether to clear the error state of the robot

void cleanup()

Cleanup the driver.

void set_all_positions(const std::vector<float> &goal_positions, float goal_time = 2.0f, bool blocking = true, const std::optional<std::vector<float>> &goal_feedforward_velocities = std::nullopt, const std::optional<std::vector<float>> &goal_feedforward_accelerations = std::nullopt)

Set the positions of all joints.

Note

The size of the vectors should be equal to the number of joints

Parameters:

  • goal_positions – Positions in rad for arm joints and m for the gripper joint

  • goal_time – Optional: goal time in s when the goal positions should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal positions are reached, default true

  • goal_feedforward_velocities – Optional: feedforward velocities in rad/s for arm joints and m/s for the gripper joint, default zeros

  • goal_feedforward_accelerations – Optional: feedforward accelerations in rad/s^2 for arm joints and m/s^2 for the gripper joint, default zeros

void set_arm_positions(const std::vector<float> &goal_positions, float goal_time = 2.0f, bool blocking = true, const std::optional<std::vector<float>> &goal_feedforward_velocities = std::nullopt, const std::optional<std::vector<float>> &goal_feedforward_accelerations = std::nullopt)

Set the positions of the arm joints.

Note

The size of the vectors should be equal to the number of arm joints

Parameters:

  • goal_positions – Positions in rad

  • goal_time – Optional: goal time in s when the goal positions should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal positions are reached, default true

  • goal_feedforward_velocities – Optional: feedforward velocities in rad/s, default zeros

  • goal_feedforward_accelerations – Optional: feedforward accelerations in rad/s^2, default zeros

void set_gripper_position(float goal_position, float goal_time = 2.0f, bool blocking = true, float goal_feedforward_velocity = 0.0f, float goal_feedforward_acceleration = 0.0f)

Set the position of the gripper.

Parameters:

  • goal_position – Position in m

  • goal_time – Optional: goal time in s when the goal position should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal position is reached, default true

  • goal_feedforward_velocity – Optional: feedforward velocity in m/s, default zero

  • goal_feedforward_acceleration – Optional: feedforward acceleration in m/s^2, default zero

void set_joint_position(uint8_t joint_index, float goal_position, float goal_time = 2.0f, bool blocking = true, float goal_feedforward_velocity = 0.0f, float goal_feedforward_acceleration = 0.0f)

Set the position of a joint.

Parameters:

  • joint_index – The index of the joint in [0, num_joints - 1]

  • goal_position – Position in rad for arm joints and m for the gripper joint

  • goal_time – Optional: goal time in s when the goal position should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal position is reached, default true

  • goal_feedforward_velocity – Optional: feedforward velocity in rad/s for arm joints and m/s for the gripper joint, default zero

  • goal_feedforward_acceleration – Optional: feedforward acceleration in rad/s^2 for arm joints and m/s^2 for the gripper joint, default zero

void set_all_velocities(const std::vector<float> &goal_velocities, float goal_time = 2.0f, bool blocking = true, const std::optional<std::vector<float>> &goal_feedforward_accelerations = std::nullopt)

Set the velocities of all joints.

Note

The size of the vectors should be equal to the number of joints

Parameters:

  • goal_velocities – Velocities in rad/s for arm joints and m/s for the gripper joint

  • goal_time – Optional: goal time in s when the goal velocities should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal velocities are reached, default true

  • goal_feedforward_accelerations – Optional: feedforward accelerations in rad/s^2 for arm joints and m/s^2 for the gripper joint, default zeros

void set_arm_velocities(const std::vector<float> &goal_velocities, float goal_time = 2.0f, bool blocking = true, const std::optional<std::vector<float>> &goal_feedforward_accelerations = std::nullopt)

Set the velocities of the arm joints.

Note

The size of the vectors should be equal to the number of arm joints

Parameters:

  • goal_velocities – Velocities in rad

  • blocking – Optional: whether to block until the goal velocities are reached, default true

  • goal_time – Optional: goal time in s when the goal velocities should be reached, default 2.0s

  • goal_feedforward_accelerations – Optional: feedforward accelerations in rad/s^2, default zeros

void set_gripper_velocity(float goal_velocity, float goal_time = 2.0f, bool blocking = true, float goal_feedforward_acceleration = 0.0f)

Set the velocity of the gripper.

Parameters:

  • goal_velocity – Velocity in m/s

  • goal_time – Optional: goal time in s when the goal velocity should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal velocity is reached, default true

  • goal_feedforward_acceleration – Optional: feedforward acceleration in m/s^2, default zero

void set_joint_velocity(uint8_t joint_index, float goal_velocity, float goal_time = 2.0f, bool blocking = true, float goal_feedforward_acceleration = 0.0f)

Set the velocity of a joint.

Parameters:

  • joint_index – The index of the joint in [0, num_joints - 1]

  • goal_velocity – Velocity in rad/s for arm joints and m/s for the gripper joint

  • goal_time – Optional: goal time in s when the goal velocity should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal velocity is reached, default true

  • goal_feedforward_acceleration – Optional: feedforward acceleration in rad/s^2 for arm joints and m/s^2 for the gripper joint, default zero

void set_all_external_efforts(const std::vector<float> &goal_external_efforts, float goal_time = 2.0f, bool blocking = true)

Set the external efforts of all joints.

Note

The size of the vectors should be equal to the number of joints

Parameters:

  • goal_external_efforts – External efforts in Nm for arm joints and N for the gripper joint

  • goal_time – Optional: goal time in s when the goal external efforts should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal external efforts are reached, default true

void set_arm_external_efforts(const std::vector<float> &goal_external_efforts, float goal_time = 2.0f, bool blocking = true)

Set the external efforts of the arm joints.

Note

The size of the vectors should be equal to the number of arm joints

Parameters:

  • goal_external_efforts – External efforts in Nm

  • goal_time – Optional: goal time in s when the goal external efforts should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal external efforts are reached, default true

void set_gripper_external_effort(float goal_external_effort, float goal_time = 2.0f, bool blocking = true)

Set the external effort of the gripper.

Parameters:

  • goal_external_effort – External effort in N

  • goal_time – Optional: goal time in s when the goal external effort should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal external effort is reached, default true

void set_joint_external_effort(uint8_t joint_index, float goal_external_effort, float goal_time = 2.0f, bool blocking = true)

Set the external effort of a joint.

Parameters:

  • joint_index – The index of the joint in [0, num_joints - 1]

  • goal_external_effort – External effort in Nm for arm joints and N for the gripper joint

  • goal_time – Optional: goal time in s when the goal external effort should be reached, default 2.0s

  • blocking – Optional: whether to block until the goal external effort is reached, default true

void load_configs_from_file(const std::string &file_path)

Load configurations from a YAML file and set them.

Parameters:

file_path – The file path to load the configurations

void set_factory_reset_flag(bool flag = true)

Set the factory reset flag.

Parameters:

flag – Whether to reset the configurations to factory defaults at the next startup

void set_ip_method(IPMethod method = IPMethod::manual)

Set the IP method.

Parameters:

method – The IP method to set, one of IPMethod::manual or IPMethod::dhcp

void set_manual_ip(const std::string manual_ip = "192.168.1.2")

Set the manual IP.

Parameters:

manual_ip – The manual IP address to set

void set_dns(const std::string dns = "8.8.8.8")

Set the DNS.

Parameters:

dns – The DNS to set

void set_gateway(const std::string gateway = "192.168.1.1")

Set the gateway.

Parameters:

gateway – The gateway to set

void set_subnet(const std::string subnet = "255.255.255.0")

Set the subnet.

Parameters:

subnet – The subnet to set

void set_joint_characteristics(const std::vector<JointCharacteristic> &joint_characteristics)

Set the joint characteristics.

  • effort_correction: [0.5, 2.0]

  • friction_transition_velocity: positive

  • continuity_factor: [1.0, 10.0] for arm joints and additionally negative for the gripper joint to disable the continuity constraint

Note

The size of the vector should be equal to the number of joints

Note

Some joint characteristics are required to be within the following ranges

Warning

Disabling the continuity constraint for the gripper joint removes protection against drastic gripper movements caused by erroneous application logic

Parameters:

joint_characteristics – Joint characteristics

void set_effort_corrections(const std::vector<float> &effort_corrections)

Set the effort corrections.

This configuration is used to map the efforts in Nm or N to the motor effort unit, i.e., effort_correction = motor effort unit / Nm or N

Note

The size of the vector should be equal to the number of joints

Note

Each element in the vector should be within the range [0.5, 2.0]

Parameters:

effort_corrections – Effort corrections in motor effort unit / Nm or N

void set_friction_transition_velocities(const std::vector<float> &friction_transition_velocities)

Set the friction transition velocities.

Note

The size of the vector should be equal to the number of joints

Note

Each element in the vector should be positive

Parameters:

friction_transition_velocities – Friction transition velocities in rad/s for arm joints and m/s for the gripper joint

void set_friction_constant_terms(const std::vector<float> &friction_constant_terms)

Set the friction constant terms.

Note

The size of the vector should be equal to the number of joints

Parameters:

friction_constant_terms – Friction constant terms in Nm for arm joints and N for the gripper joint

void set_friction_coulomb_coefs(const std::vector<float> &friction_coulomb_coefs)

Set the friction coulomb coefs.

Note

The size of the vector should be equal to the number of joints

Parameters:

friction_coulomb_coefs – Friction coulomb coefs in Nm/Nm for arm joints and N/N for the gripper joint

void set_friction_viscous_coefs(const std::vector<float> &friction_viscous_coefs)

Set the friction viscous coefs.

Note

The size of the vector should be equal to the number of joints

Parameters:

friction_viscous_coefs – Friction viscous coefs in Nm/(rad/s) for arm joints and N/(m/s) for the gripper joint

void set_continuity_factors(const std::vector<float> &continuity_factors)

Set the continuity factors.

Note

The size of the vector should be equal to the number of joints

Note

Each element in the vector should be within the range [1.0, 10.0] for arm joints and additionally negative for the gripper joint to disable the continuity constraint

Warning

Disabling the continuity constraint for the gripper joint removes protection against drastic gripper movements caused by erroneous application logic

Parameters:

continuity_factors – Continuity factors in 1 that scales the base continuity constraint

void set_joint_modes(const std::vector<Mode> &modes)

Set the modes of each joint.

  • Mode::idle

  • Mode::position

  • Mode::velocity

  • Mode::external_effort

Note

The size of the vector should be equal to the number of joints

Parameters:

modes – Desired modes for each joint, one of

void set_all_modes(Mode mode = Mode::idle)

Set all joints to the same mode.

  • Mode::idle

  • Mode::position

  • Mode::velocity

  • Mode::external_effort

Parameters:

mode – Desired mode for all joints, one of

void set_arm_modes(Mode mode = Mode::idle)

Set the mode of the arm joints.

  • Mode::idle

  • Mode::position

  • Mode::velocity

  • Mode::external_effort

Warning

This method does not change the gripper joint’s mode

Parameters:

mode – Desired mode for the arm joints, one of

void set_gripper_mode(Mode mode = Mode::idle)

Set the mode of the gripper joint.

  • Mode::idle

  • Mode::position

  • Mode::velocity

  • Mode::external_effort

Warning

This method does not change the arm joints’ mode

Parameters:

mode – Desired mode for the gripper joint, one of

void set_end_effector(const EndEffectorProperties &end_effector)

Set the end effector properties.

Parameters:

end_effector – The end effector properties

void set_gripper_force_limit_scaling_factor(float scaling_factor = 0.5f)

Set the gripper force limit scaling factor.

Note

It must be within [0.0, 1.0], 0.0 for no force, 1.0 for max force in the specifications

Parameters:

scaling_factor – Scaling factor for the max gripper force

uint8_t get_num_joints() const

Get the number of joints.

Returns:

Number of joints

std::string get_driver_version() const

Get driver version.

Returns:

Driver version

std::string get_controller_version() const

Get controller firmware version.

Returns:

Controller firmware version

std::vector<float> get_positions()

Get the positions.

Returns:

Positions in rad for arm joints and m for the gripper joint

std::vector<float> get_velocities()

Get the velocities.

Returns:

Velocities in rad/s for arm joints and m/s for the gripper joint

std::vector<float> get_efforts()

Get the efforts.

Returns:

Efforts in Nm for arm joints and N for the gripper joint

std::vector<float> get_external_efforts()

Get the external efforts.

Returns:

External efforts in Nm for arm joints and N for the gripper joint

std::vector<float> get_compensation_efforts()

Get the compensation efforts.

Returns:

Compensation efforts in Nm for arm joints and N for the gripper joint

void save_configs_to_file(const std::string &file_path)

Save configurations to a YAML file.

Parameters:

file_path – The file path to store the configurations

bool get_factory_reset_flag()

Get the factory reset flag.

Returns:

true The configurations will be reset to factory defaults at the next startup

Returns:

false The configurations will not be reset to factory defaults at the next startup

IPMethod get_ip_method()

Get the IP method.

Returns:

The IP method of the robot

std::string get_manual_ip()

Get the manual IP.

Returns:

Manual IP address

std::string get_dns()

Get the DNS.

Returns:

DNS address

std::string get_gateway()

Get the gateway.

Returns:

Gateway address

std::string get_subnet()

Get the subnet.

Returns:

Subnet address

std::vector<JointCharacteristic> get_joint_characteristics()

Get the joint characteristics.

Returns:

Joint characteristics

std::vector<float> get_effort_corrections()

Get the effort corrections.

Returns:

Effort corrections in motor effort unit / Nm or N

std::vector<float> get_friction_transition_velocities()

Get the friction transition velocities.

Returns:

Friction transition velocities in rad/s for arm joints and m/s for the gripper joint

std::vector<float> get_friction_constant_terms()

Get the friction constant terms.

Returns:

Friction constant terms in Nm for arm joints and N for the gripper joint

std::vector<float> get_friction_coulomb_coefs()

Get the friction coulomb coefs.

Returns:

Friction coulomb coefs in Nm/Nm for arm joints and N/N for the gripper joint

std::vector<float> get_friction_viscous_coefs()

Get the friction viscous coefs.

Returns:

Friction viscous coefs in Nm/(rad/s) for arm joints and N/(m/s) for the gripper joint

std::vector<float> get_continuity_factors()

Get the continuity factors.

Returns:

Continuity factors in 1 that scales the base continuity constraint

std::string get_error_information()

Get the error information of the robot.

Returns:

Error information

std::vector<Mode> get_modes()

Get the modes.

Returns:

Modes of all joints, a vector of Modes

EndEffectorProperties get_end_effector()

Get the end effector mass properties.

Returns:

The end effector mass property structure

float get_gripper_force_limit_scaling_factor()

Get the gripper force limit scaling factor.

Returns:

Scaling factor for the max gripper force, 0.0 for no force, 1.0 for max force in the specifications