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deleted the state estimator api, and restored the purpose of the cont… #421

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deleted the state estimator api, and restored the purpose of the cont… #421

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10 changes: 6 additions & 4 deletions .../src/main/java/us/ihmc/atlas/behaviors/scsSensorSimulation/SCSDoorAndCameraSimulator.java
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Expand Up @@ -10,8 +10,9 @@
import us.ihmc.commons.exception.DefaultExceptionHandler;
import us.ihmc.commons.exception.ExceptionTools;
import us.ihmc.avatar.drcRobot.ROS2SyncedRobotModel;
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.PerceptionAPI;
import us.ihmc.communication.StateEstimatorAPI;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.ros2.ROS2Input;
import us.ihmc.communication.ROS2Tools;
import us.ihmc.communication.producers.VideoDataServerImageCallback;
Expand All @@ -34,6 +35,7 @@
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.ros2.ROS2Node;
import us.ihmc.ros2.ROS2PublisherBasics;
import us.ihmc.ros2.ROS2Topic;
import us.ihmc.simulationConstructionSetTools.util.environments.*;
import us.ihmc.simulationconstructionset.*;
import us.ihmc.simulationconstructionset.Robot;
Expand Down Expand Up @@ -65,7 +67,9 @@ public class SCSDoorAndCameraSimulator

public SCSDoorAndCameraSimulator(ROS2Node ros2Node, CommonAvatarEnvironmentInterface environment, DRCRobotModel robotModel, boolean startMinimized)
{
robotConfigurationData = new ROS2Input<>(ros2Node, StateEstimatorAPI.getRobotConfigurationDataTopic(robotModel.getSimpleRobotName()));
ROS2Topic<?> controllerOutputTopic = HumanoidControllerAPI.getOutputTopic(robotModel.getSimpleRobotName());

robotConfigurationData = new ROS2Input<>(ros2Node, ControllerAPI.getTopic(controllerOutputTopic, RobotConfigurationData.class));

syncedRobot = new ROS2SyncedRobotModel(robotModel, ros2Node);

Expand Down Expand Up @@ -119,8 +123,6 @@ public SCSDoorAndCameraSimulator(ROS2Node ros2Node, CommonAvatarEnvironmentInter
// must create a joint and attach a CameraMount; make it another robot?

// required for timestamp
ROS2Input<RobotConfigurationData> robotConfigurationData = new ROS2Input<>(ros2Node,
StateEstimatorAPI.getRobotConfigurationDataTopic(robotModel.getSimpleRobotName()));
ROS2PublisherBasics<VideoPacket> scsCameraPublisher = ros2Node.createPublisher(ROS2Tools.IHMC_ROOT.withTypeName(VideoPacket.class));
CameraConfiguration cameraConfiguration = new CameraConfiguration(videoCameraMountName);
cameraConfiguration.setCameraMount(videoCameraMountName);
Expand Down
9 changes: 5 additions & 4 deletions ...src/main/java/us/ihmc/atlas/behaviors/scsSensorSimulation/SCSLidarAndCameraSimulator.java
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Expand Up @@ -10,7 +10,8 @@
import us.ihmc.commons.exception.DefaultExceptionHandler;
import us.ihmc.commons.exception.ExceptionTools;
import us.ihmc.commons.thread.ThreadTools;
import us.ihmc.communication.StateEstimatorAPI;
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.ros2.ROS2PublisherBasics;
import us.ihmc.avatar.drcRobot.ROS2SyncedRobotModel;
import us.ihmc.communication.PerceptionAPI;
Expand All @@ -36,6 +37,7 @@
import us.ihmc.robotics.robotDescription.LidarSensorDescription;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.ros2.ROS2Node;
import us.ihmc.ros2.ROS2Topic;
import us.ihmc.simulationConstructionSetTools.util.environments.*;
import us.ihmc.simulationconstructionset.*;
import us.ihmc.simulationconstructionset.simulatedSensors.LidarMount;
Expand Down Expand Up @@ -73,7 +75,8 @@ public SCSLidarAndCameraSimulator(PubSubImplementation pubSubImplementation, Ter
{
ros2Node = ROS2Tools.createROS2Node(pubSubImplementation, "lidar_and_camera");

robotConfigurationData = new ROS2Input<>(ros2Node, StateEstimatorAPI.getRobotConfigurationDataTopic(robotModel.getSimpleRobotName()));
ROS2Topic<?> controllerOutputTopic = HumanoidControllerAPI.getOutputTopic(robotModel.getSimpleRobotName());
robotConfigurationData = new ROS2Input<>(ros2Node, ControllerAPI.getTopic(controllerOutputTopic, RobotConfigurationData.class));

syncedRobot = new ROS2SyncedRobotModel(robotModel, ros2Node);

Expand Down Expand Up @@ -113,8 +116,6 @@ public SCSLidarAndCameraSimulator(PubSubImplementation pubSubImplementation, Ter
// must create a joint and attach a CameraMount; make it another robot?

// required for timestamp
ROS2Input<RobotConfigurationData> robotConfigurationData = new ROS2Input<>(ros2Node,
StateEstimatorAPI.getRobotConfigurationDataTopic(robotModel.getSimpleRobotName()));
ROS2PublisherBasics<VideoPacket> scsCameraPublisher = ros2Node.createPublisher(PerceptionAPI.VIDEO);
CameraConfiguration cameraConfiguration = new CameraConfiguration(videoCameraMountName);
cameraConfiguration.setCameraMount(videoCameraMountName);
Expand Down
6 changes: 4 additions & 2 deletions atlas/src/main/java/us/ihmc/atlas/sensors/AtlasSensorSuiteManager.java
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Expand Up @@ -14,8 +14,8 @@
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.PerceptionAPI;
import us.ihmc.communication.ROS2Tools;
import us.ihmc.communication.StateEstimatorAPI;
import us.ihmc.communication.configuration.NetworkParameters;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.communication.net.ObjectCommunicator;
import us.ihmc.perception.ros1.camera.FisheyeCameraReceiver;
import us.ihmc.perception.ros1.camera.SCSCameraDataReceiver;
Expand All @@ -24,6 +24,7 @@
import us.ihmc.robotModels.FullHumanoidRobotModelFactory;
import us.ihmc.ros2.ROS2Node;
import us.ihmc.ros2.ROS2NodeInterface;
import us.ihmc.ros2.ROS2Topic;
import us.ihmc.sensorProcessing.communication.producers.RobotConfigurationDataBuffer;
import us.ihmc.sensorProcessing.parameters.AvatarRobotCameraParameters;
import us.ihmc.sensorProcessing.parameters.AvatarRobotLidarParameters;
Expand Down Expand Up @@ -113,7 +114,8 @@ public void initializeSimulatedSensors(ObjectCommunicator scsSensorsCommunicator
{
if (enableVideoPublisher)
{
ros2Node.createSubscription(StateEstimatorAPI.getRobotConfigurationDataTopic(robotName),
ROS2Topic<?> controllerOutputTopic = HumanoidControllerAPI.getOutputTopic(robotName);
ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, RobotConfigurationData.class),
s -> robotConfigurationDataBuffer.receivedPacket(s.takeNextData()));

cameraDataReceiver = new SCSCameraDataReceiver(sensorInformation.getCameraParameters(0).getRobotSide(),
Expand Down
5 changes: 4 additions & 1 deletion ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/AvatarControllerThread.java
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Expand Up @@ -20,6 +20,7 @@
import us.ihmc.commonWalkingControlModules.visualizer.InverseDynamicsMechanismReferenceFrameVisualizer;
import us.ihmc.commons.Conversions;
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.ros2.ROS2PublisherBasics;
import us.ihmc.communication.packets.ControllerCrashLocation;
import us.ihmc.communication.packets.MessageTools;
Expand All @@ -34,6 +35,7 @@
import us.ihmc.robotics.sensors.ForceSensorDataHolder;
import us.ihmc.robotics.sensors.ForceSensorDataHolderReadOnly;
import us.ihmc.robotics.time.ExecutionTimer;
import us.ihmc.ros2.ROS2Topic;
import us.ihmc.ros2.RealtimeROS2Node;
import us.ihmc.scs2.definition.yoGraphic.YoGraphicDefinition;
import us.ihmc.scs2.definition.yoGraphic.YoGraphicGroupDefinition;
Expand Down Expand Up @@ -120,9 +122,10 @@ public AvatarControllerThread(String robotName,
contextDataFactory.setSensorDataContext(new SensorDataContext(controllerFullRobotModel));
humanoidRobotContextData = contextDataFactory.createHumanoidRobotContextData();

ROS2Topic<?> controllerOutputTopic = HumanoidControllerAPI.getOutputTopic(robotName);
if (realtimeROS2Node != null)
{
crashNotificationPublisher = realtimeROS2Node.createPublisher(HumanoidControllerAPI.getTopic(ControllerCrashNotificationPacket.class, robotName));
crashNotificationPublisher = realtimeROS2Node.createPublisher(ControllerAPI.getTopic(controllerOutputTopic, ControllerCrashNotificationPacket.class));
}
else
{
Expand Down
10 changes: 6 additions & 4 deletions ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/drcRobot/ROS2SyncedRobotModel.java
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Expand Up @@ -5,13 +5,14 @@
import controller_msgs.msg.dds.RobotConfigurationData;
import us.ihmc.avatar.sakeGripper.ROS2SakeHandStatus;
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.StateEstimatorAPI;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.robotics.robotSide.RobotSide;
import us.ihmc.robotics.robotSide.SideDependentList;
import us.ihmc.ros2.ROS2Input;
import us.ihmc.robotModels.FullHumanoidRobotModel;
import us.ihmc.robotModels.FullRobotModelUtils;
import us.ihmc.ros2.ROS2NodeInterface;
import us.ihmc.ros2.ROS2Topic;

import java.util.function.Consumer;

Expand All @@ -31,8 +32,9 @@ public ROS2SyncedRobotModel(DRCRobotModel robotModel, ROS2NodeInterface ros2Node
{
super(robotModel, fullRobotModel, robotModel.getHandModels(), robotModel.getSensorInformation());

ROS2Topic<?> controllerOutputTopic = HumanoidControllerAPI.getOutputTopic(robotModel.getSimpleRobotName());
robotConfigurationDataInput = new ROS2Input<>(ros2Node,
StateEstimatorAPI.getRobotConfigurationDataTopic(robotModel.getSimpleRobotName()),
ControllerAPI.getTopic(controllerOutputTopic, RobotConfigurationData.class),
robotConfigurationData,
message ->
{
Expand All @@ -42,12 +44,12 @@ public ROS2SyncedRobotModel(DRCRobotModel robotModel, ROS2NodeInterface ros2Node
robotConfigurationDataInput.addCallback(message -> resetDataReceptionTimer());
capturabilityBasedStatusInput = new ROS2Input<>(ros2Node,
CapturabilityBasedStatus.class,
HumanoidControllerAPI.getTopic(CapturabilityBasedStatus.class, robotModel.getSimpleRobotName()));
ControllerAPI.getTopic(controllerOutputTopic, CapturabilityBasedStatus.class));

for (RobotSide robotSide : RobotSide.values)
{
handJointAnglePacketInputs.set(robotSide, new ROS2Input<>(ros2Node,
StateEstimatorAPI.getHandJointAnglesTopic(robotModel.getSimpleRobotName()),
ControllerAPI.getTopic(controllerOutputTopic, HandJointAnglePacket.class),
null,
message -> robotSide.toByte() == message.getRobotSide()));
sakeHandStatus.put(robotSide, new ROS2SakeHandStatus(ros2Node, robotModel.getSimpleRobotName(), robotSide));
Expand Down
5 changes: 2 additions & 3 deletions ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/factory/AvatarSimulationFactory.java
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Expand Up @@ -28,7 +28,7 @@
import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.plugin.JoystickBasedSteppingPluginFactory;
import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.plugin.HumanoidSteppingPluginFactory;
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.StateEstimatorAPI;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.concurrent.runtime.barrierScheduler.implicitContext.BarrierScheduler.TaskOverrunBehavior;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.transform.RigidBodyTransform;
Expand All @@ -50,7 +50,6 @@
import us.ihmc.robotics.physics.CollidableHelper;
import us.ihmc.robotics.physics.MultiBodySystemStateWriter;
import us.ihmc.robotics.physics.RobotCollisionModel;
import us.ihmc.ros2.ROS2Topic;
import us.ihmc.ros2.RealtimeROS2Node;
import us.ihmc.sensorProcessing.outputData.JointDesiredOutputWriter;
import us.ihmc.sensorProcessing.parameters.AvatarRobotLidarParameters;
Expand Down Expand Up @@ -274,7 +273,7 @@ private void setupStateEstimationThread()
else
{
pelvisPoseCorrectionCommunicator = new PelvisPoseCorrectionCommunicator(realtimeROS2Node.get(), robotName);
realtimeROS2Node.get().createSubscription(StateEstimatorAPI.getTopic(StampedPosePacket.class, robotName),
realtimeROS2Node.get().createSubscription(ControllerAPI.getTopic(HumanoidControllerAPI.getInputTopic(robotName), StampedPosePacket.class),
s -> pelvisPoseCorrectionCommunicator.receivedPacket(s.takeNextData()));
}

Expand Down
7 changes: 4 additions & 3 deletions ...tar/networkProcessor/kinematicsPlanningToolboxModule/KinematicsPlanningToolboxModule.java
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Expand Up @@ -12,8 +12,8 @@
import us.ihmc.avatar.networkProcessor.modules.ToolboxController;
import us.ihmc.avatar.networkProcessor.modules.ToolboxModule;
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.StateEstimatorAPI;
import us.ihmc.communication.ToolboxAPIs;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.ros2.ROS2NodeInterface;
import us.ihmc.ros2.ROS2Topic;
import us.ihmc.communication.controllerAPI.command.Command;
Expand Down Expand Up @@ -45,12 +45,13 @@ public KinematicsPlanningToolboxModule(DRCRobotModel robotModel, boolean startYo
@Override
public void registerExtraPuSubs(ROS2NodeInterface ros2Node)
{
ros2Node.createSubscription(StateEstimatorAPI.getRobotConfigurationDataTopic(robotName), s ->
ROS2Topic<?> controllerOutputTopic = HumanoidControllerAPI.getOutputTopic(robotName);
ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, RobotConfigurationData.class), s ->
{
if (kinematicsPlanningToolboxController != null)
kinematicsPlanningToolboxController.updateRobotConfigurationData(s.takeNextData());
});
ros2Node.createSubscription(HumanoidControllerAPI.getTopic(CapturabilityBasedStatus.class, robotName), s ->
ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, CapturabilityBasedStatus.class), s ->
{
if (kinematicsPlanningToolboxController != null)
kinematicsPlanningToolboxController.updateCapturabilityBasedStatus(s.takeNextData());
Expand Down
11 changes: 7 additions & 4 deletions ...java/us/ihmc/avatar/networkProcessor/kinematicsToolboxModule/KinematicsToolboxModule.java
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Expand Up @@ -8,9 +8,9 @@
import us.ihmc.avatar.networkProcessor.kinematicsToolboxModule.KinematicsToolboxController.RobotConfigurationDataBasedUpdater;
import us.ihmc.avatar.networkProcessor.modules.ToolboxModule;
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.StateEstimatorAPI;
import us.ihmc.communication.ToolboxAPIs;
import us.ihmc.communication.controllerAPI.CommandInputManager;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.communication.controllerAPI.command.Command;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.humanoidRobotics.communication.kinematicsToolboxAPI.HumanoidKinematicsToolboxConfigurationCommand;
Expand Down Expand Up @@ -97,7 +97,9 @@ public void registerExtraPuSubs(ROS2NodeInterface ros2Node)
{
RobotConfigurationData robotConfigurationData = new RobotConfigurationData();

ros2Node.createSubscription(StateEstimatorAPI.getRobotConfigurationDataTopic(robotName), s ->
ROS2Topic<?> controllerOutputTopic = HumanoidControllerAPI.getOutputTopic(robotName);

ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, RobotConfigurationData.class), s ->
{
if (kinematicsToolBoxController != null)
{
Expand All @@ -106,9 +108,10 @@ public void registerExtraPuSubs(ROS2NodeInterface ros2Node)
}
});


CapturabilityBasedStatus capturabilityBasedStatus = new CapturabilityBasedStatus();

ros2Node.createSubscription(HumanoidControllerAPI.getTopic(CapturabilityBasedStatus.class, robotName), s ->
ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, CapturabilityBasedStatus.class), s ->
{
if (kinematicsToolBoxController != null)
{
Expand All @@ -119,7 +122,7 @@ public void registerExtraPuSubs(ROS2NodeInterface ros2Node)

MultiContactBalanceStatus multiContactBalanceStatus = new MultiContactBalanceStatus();

ros2Node.createSubscription(HumanoidControllerAPI.getTopic(MultiContactBalanceStatus.class, robotName), s ->
ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, MultiContactBalanceStatus.class), s ->
{
if (kinematicsToolBoxController != null)
{
Expand Down
8 changes: 5 additions & 3 deletions ...kProcessor/kinemtaticsStreamingToolboxModule/KinematicsStreamingToolboxMessageLogger.java
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Expand Up @@ -21,11 +21,12 @@
import us.ihmc.commons.Conversions;
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.ROS2Tools;
import us.ihmc.communication.StateEstimatorAPI;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.communication.packets.Packet;
import us.ihmc.idl.serializers.extra.JSONSerializer;
import us.ihmc.log.LogTools;
import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
import us.ihmc.ros2.ROS2Topic;
import us.ihmc.ros2.RealtimeROS2Node;
import us.ihmc.tools.thread.CloseableAndDisposable;

Expand Down Expand Up @@ -75,9 +76,10 @@ public KinematicsStreamingToolboxMessageLogger(String robotName, PubSubImplement
ros2Node = ROS2Tools.createRealtimeROS2Node(pubSubImplementation,
"ihmc_" + CaseFormat.UPPER_CAMEL.to(CaseFormat.LOWER_UNDERSCORE, "KinematicsStreamingToolboxMessageLogger"));

ros2Node.createSubscription(StateEstimatorAPI.getRobotConfigurationDataTopic(robotName),
ROS2Topic<?> controllerOutputTopic = HumanoidControllerAPI.getOutputTopic(robotName);
ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, RobotConfigurationData.class),
s -> robotConfigurationData.set(s.takeNextData()));
ros2Node.createSubscription(HumanoidControllerAPI.getTopic(CapturabilityBasedStatus.class, robotName),
ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, CapturabilityBasedStatus.class),
s -> capturabilityBasedStatus.set(s.takeNextData()));

ros2Node.createSubscription(KinematicsStreamingToolboxModule.getInputTopic(robotName).withTypeName(ToolboxStateMessage.class),
Expand Down
12 changes: 7 additions & 5 deletions .../networkProcessor/kinemtaticsStreamingToolboxModule/KinematicsStreamingToolboxModule.java
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Expand Up @@ -18,7 +18,6 @@
import us.ihmc.avatar.networkProcessor.modules.ToolboxModule;
import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.WholeBodySetpointParameters;
import us.ihmc.communication.HumanoidControllerAPI;
import us.ihmc.communication.StateEstimatorAPI;
import us.ihmc.communication.ToolboxAPIs;
import us.ihmc.communication.controllerAPI.ControllerAPI;
import us.ihmc.communication.controllerAPI.command.Command;
Expand Down Expand Up @@ -118,20 +117,23 @@ private static Map<String, Double> fromStandPrep(DRCRobotModel robotModel)
@Override
public void registerExtraPuSubs(ROS2NodeInterface ros2Node)
{
trajectoryMessagePublisher = ros2Node.createPublisher(HumanoidControllerAPI.getTopic(WholeBodyTrajectoryMessage.class, robotName));
streamingMessagePublisher = ros2Node.createPublisher(HumanoidControllerAPI.getTopic(WholeBodyStreamingMessage.class, robotName));
ROS2Topic<?> controllerInputTopic = HumanoidControllerAPI.getInputTopic(robotName);
ROS2Topic<?> controllerOutputTopic = HumanoidControllerAPI.getOutputTopic(robotName);

trajectoryMessagePublisher = ros2Node.createPublisher(ControllerAPI.getTopic(controllerInputTopic, WholeBodyTrajectoryMessage.class));
streamingMessagePublisher = ros2Node.createPublisher(ControllerAPI.getTopic(controllerInputTopic, WholeBodyStreamingMessage.class));

RobotConfigurationData robotConfigurationData = new RobotConfigurationData();

ros2Node.createSubscription(StateEstimatorAPI.getRobotConfigurationDataTopic(robotName), s ->
ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, RobotConfigurationData.class), s ->
{
s.takeNextData(robotConfigurationData, null);
robotStateUpdater.setRobotConfigurationData(robotConfigurationData);
});

CapturabilityBasedStatus capturabilityBasedStatus = new CapturabilityBasedStatus();

ros2Node.createSubscription(HumanoidControllerAPI.getTopic(CapturabilityBasedStatus.class, robotName), s ->
ros2Node.createSubscription(ControllerAPI.getTopic(controllerOutputTopic, CapturabilityBasedStatus.class), s ->
{
if (controller != null)
{
Expand Down
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