Motion Control Interface¶
- Joint Control Interface: This node controls each joint of the Galaxea R1Pro torso and arms.
- Arm Pose Control Interface: This node controls the arms to move to the target end-effector (ee) coordinate frame.
- Gripper Control Interface: This node controls the end-effector gripper to move to the target position.
- Torso Velocity Control Interface: This node controls the torso to move to the target floating base coordinate frame.
- Chassis Control Interface: This node uses vector control to drive the Galaxea R1Pro chassis, allowing velocity commands in the x, y, and w directions to be sent simultaneously.
- Pose Estimation Interface: This node receives joint angle feedback from HDAS and computes the feedback corresponding to three coordinate frames.
Joint Control Interface¶
It can be launched with the following command:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/feedback_arm_left | Input | Left arm joint feedback | sensor_msgs::msg::JointState |
| /hdas/feedback_arm_right | Input | Right arm joint feedback | sensor_msgs::msg::JointState |
| /hdas/feedback_torso | Input | Torso joint feedback | sensor_msgs::msg::JointState |
| /motion_target/target_joint_state_arm_left | Input | Target position of each left arm joint | sensor_msgs::msg::JointState |
| /motion_target/target_joint_state_arm_right | Input | Target position of each right arm joint | sensor_msgs::msg::JointState |
| /motion_target/target_joint_state_torso | Input | Target position of each torso joint | sensor_msgs::msg::JointState |
| /motion_control/control_arm_left | Output | Left arm motor control | hdas_msg::msg::MotorControl |
| /motion_control/control_arm_right | Output | Right arm motor control | hdas_msg::msg::MotorControl |
| /motion_control/control_torso | Output | Torso motor control | hdas_msg::msg::MotorControl |
The specific fields of the topics above and their detailed descriptions are shown in the following table:
| Topic Name | Field | Description |
|---|---|---|
| /hdas/feedback_arm_left | - | Please refer to the arm driver interface |
| /hdas/feedback_arm_right | - | Please refer to the arm driver interface |
| /hdas/feedback_torso | - | Please refer to the torso driver interface |
| /motion_target/target_joint_state_arm_left /motion_target/target_joint_state_arm_right |
position | A vector of 7 elements representing the 7 target positions of each joint. |
| velocity | A vector of 7 elements representing the maximum velocity of each joint during motion. The maximum velocities are: {3, 3, 3, 3, 5, 5, 5}. The acceleration and jerk limits are set to 1.5 times the velocity limit. | |
| /motion_target/target_joint_state_torso | position | A vector of four elements representing the four target positions of each joint. |
| velocity | A vector of four elements representing the velocity of each joint during motion. The maximum velocities are: {1.5, 1.5, 1.5, 1.5}. The acceleration and jerk limits are set to 1.5 times the velocity limit. | |
| /motion_control/control_arm_left | - | Please refer to the arm driver interface |
| /motion_control/control_arm_right | - | Please refer to the arm driver interface |
| /motion_control/control_torso | - | Please refer to the torso driver interface |
Arm Pose Control Interface¶
Galaxea R1Pro arm pose control is a ROS package used to control the arms to move to the target end-effector (ee) coordinate frame. It mainly consists of a launch file and two topics corresponding to the pose control of the left arm and the right arm respectively, and can be launched with the following command.
Before calling the following interface, please make sure that FDCAN communication, the HDAS node, and the arm joint control node have been launched. Click to view the launch procedure; for how to launch the arm joint control node, refer to Joint Control.
After launching the vr_teleoperation_whole_body_laucnh.py file, call the following ROS service to switch the topic that controls the arm end-effector pose:
ros2 service call /switch_control_mode_vr teleoperation_msg_ros2/srv/SwitchControlModeVR use_vr_mode:\ false\
Note: The target joint angles can only be solved once the target poses for both the left and right arms have been provided.
- Since pose control continuously solves the target joint angles based on the target ee pose and publishes them to /motion_target/target_joint_state_arm_left and /motion_target/target_joint_state_arm_right, after the dual-arm pose controller is started, you need to run the following command to launch the joint control node.
-
Once the dual-arm pose controller is started, both arms will automatically adjust to the state shown in the left figure. Please make sure the Galaxea R1Pro is positioned with both arms hanging down naturally, to avoid initialization failure caused by an excessively large motion angle.
-
The relative pose in the current end-effector pose control is the pose transformation of gripper_link relative to torso_link4 in the URDF. Taking the left arm in the figure below as an example, the relationship of the left arm's left_gripper_link coordinate frame relative to the torso's torso_link4 coordinate frame includes the x, y, and z offsets as well as the rotational offset corresponding to the orientation.
The interface information is shown below:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/feedback_arm_left | Input | Left arm joint feedback | sensor_msgs::msg::JointState |
| /hdas/feedback_arm_right | Input | Right arm joint feedback | sensor_msgs::msg::JointState |
| /motion_target/target_pose_arm_left | Input | Target left arm end-effector pose | geometry_msgs::msg::PoseStamped |
| /motion_target/target_pose_arm_right | Input | Target right arm end-effector pose | geometry_msgs::msg::PoseStamped |
| /motion_target/target_joint_state_arm_left | Output | Left arm joint target position | sensor_msgs::msg::JointState |
| /motion_target/target_joint_state_arm_right | Output | Right arm joint target position | sensor_msgs::msg::JointState |
The specific fields of the topics above and their detailed descriptions are shown in the following table:
| Topic Name | Field | Description |
|---|---|---|
| /hdas/feedback_arm_left /hdas/feedback_arm_right |
- | Please refer to the arm driver interface |
| /motion_target/target_pose_arm_left /motion_target/target_pose_arm_right |
header | Standard message header |
| pose.position.x | X-axis offset | |
| pose.position.y | Y-axis offset | |
| pose.position.z | Z-axis offset | |
| pose.orientation.x | Rotation quaternion | |
| pose.orientation.y | Rotation quaternion | |
| pose.orientation.z | Rotation quaternion | |
| pose.orientation.w | Rotation quaternion | |
| /motion_target/target_joint_state_arm_left /motion_target/target_joint_state_arm_right |
- | Please refer to the joint control interface |
Gripper Control Interface¶
It can be launched with the following command:
The gripper control interface information is shown below:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /motion_target/target_position_gripper_left | Input | Left gripper target position | sensor_msgs::msg::JointState |
| /motion_target/target_position_gripper_right | Input | Right gripper target position | sensor_msgs::msg::JointState |
| /motion_control/control_gripper | Output | Gripper motor control | sensor_msgs::msg::JointState |
The specific fields of the topics above and their detailed descriptions are shown in the following table:
| Topic Name | Field | Description |
|---|---|---|
| /motion_target/target_position_gripper_left /motion_target/target_position_gripper_right |
position | Represents the target position of the left and right grippers, [0, 100], where 0 is fully closed and 100 is fully open. |
| /motion_control/control_gripper | - | Please refer to the arm driver interface |
Chassis Control Interface¶
It can be launched with the following command:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/feedback_chassis | Input | The chassis controller subscribes to this topic and controls the chassis target velocity. | sensor_msgs::msg::JointState |
| /motion_target/target_speed_chassis | Input | The chassis target velocity, including vx, vy and omega. | geometry_msgs::msg::TwistStamped |
| /motion_target/chassis_acc_limit | Input | The chassis acceleration limits, with maximum values of 2.5, 1.0, 1.0 respectively. | geometry_msgs::msg::TwistStamped |
| /motion_target/brake_mode | Input | Issues a command specifying whether the chassis enters brake mode. In brake mode, when the velocity is 0, the chassis locks itself by turning the wheels by a certain angle. | std_msgs::msg::Bool |
| /motion_control/control_chassis | Output | The chassis controller publishes this topic to control the motors. | hdas_msg::msg::MotorControl |
The specific fields of the topics above and their detailed descriptions are shown in the following table:
| Message Name | Field | Description |
|---|---|---|
| /hdas/feedback_chassis | - | Please refer to the chassis driver interface |
| /motion_target/target_speed_chassis | header | Standard message header |
| linear | Linear velocity | |
| .x | Linear velocity x, range (-1.5, 1.5) m/s | |
| .y | Linear velocity y, range (-1.5, 1.5) m/s | |
| angular | Angular velocity | |
| .z | Angular velocity, range (-3 - 3) rad/s | |
| /motion_target/chassis_acc_limit | header | Standard message header |
| linear | Linear velocity | |
| .x | Acceleration limit x, range (-2.5, 2.5) m/s² | |
| .y | Acceleration limit y, range (-1.0, 1.0) m/s² | |
| angular | Angular velocity | |
| .z | Angular velocity limit, range (-3, 3) rad/s² | |
| /motion_target/brake_mode | data | Boolean value Enter brake mode: True Exit brake mode: False |
| /motion_control/control_chassis | - | Please refer to the chassis driver interface |
Pose Estimation Interface¶
In the moca_launch.py launch file, a robot state estimator named StateEstimator is also started. This node receives joint angle feedback from HDAS and computes the feedback corresponding to three coordinate frames. The eepose_pub_node defines three coordinate frames: the Base Link Frame (left figure), the Floating Base Frame (middle figure), and the End-Effector Pose Frame (right figure).
The interface information is shown below:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/feedback_arm_right | Input | Left arm motor feedback | sensor_msgs::msg::JointState |
| /hdas/feedback_arm_left | Input | Right arm motor feedback | sensor_msgs::msg::JointState |
| /hdas/feedback_torso | Input | Torso motor feedback | sensor_msgs::msg::JointState |
| /motion_control/pose_ee_arm_left | Output | Transformation from the floating base to the left end-effector pose | geometry_msgs::msg::PoseStamped |
| /motion_control/pose_ee_arm_right | Output | Transformation from the floating base to the right end-effector pose | geometry_msgs::msg::PoseStamped |
| /motion_control/pose_floating_base | Output | Transformation from the base link to the floating base | geometry_msgs::msg::PoseStamped |
The specific fields of the topics above and their detailed descriptions are shown in the following table:
| Topic Name | Field | Description |
|---|---|---|
| /motion_control/pose_ee_arm_right /motion_control/pose_ee_arm_left /motion_control/pose_floating_base |
position | Translation information |
| pose.position.x | X-axis offset | |
| pose.position.y | Y-axis offset | |
| pose.position.z | Z-axis offset | |
| orientation | Rotation information | |
| pose.orientation.x | Rotation quaternion | |
| pose.orientation.y | Rotation quaternion | |
| pose.orientation.z | Rotation quaternion | |
| pose.orientation.w | Rotation quaternion |