working coppelia mirror node (#1)

Reviewed-on: #1
Co-authored-by: QuentinLin <qlin1806@gmail.com>
Co-committed-by: QuentinLin <qlin1806@gmail.com>

CMakeLists.txt

@@ -158,6 +158,7 @@ add_dependencies(qros_effector_driver_franka_hand ${catkin_EXPORTED_TARGETS})
 add_library(sas_robot_driver_coppelia src/coppelia/sas_robot_driver_coppelia.cpp)
 target_link_libraries(sas_robot_driver_coppelia
         dqrobotics
+        dqrobotics-interface-json11
         dqrobotics-interface-vrep)
 
 add_dependencies(sas_robot_driver_franka ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

src/coppelia/sas_robot_driver_coppelia.cpp

@@ -4,249 +4,240 @@
 namespace sas
 {
 
+RobotDriverCoppelia::~RobotDriverCoppelia() {
+    deinitialize();
+    disconnect();
+}
 
-RobotDriverCoppelia::RobotDriverCoppelia(const RobotDriverCoppeliaConfiguration &configuration, std::atomic_bool *break_loops):
+RobotDriverCoppelia::RobotDriverCoppelia(ros::NodeHandle nh, const RobotDriverCoppeliaConfiguration &configuration, std::atomic_bool *break_loops):
-RobotDriver(break_loops),
         configuration_(configuration),
-    robot_mode_(configuration.robot_mode),
+        clock_(configuration.thread_sampling_time_nsec),
-    jointnames_(configuration.jointnames),
+        break_loops_(break_loops),
-    mirror_mode_(configuration.mirror_mode),
+        robot_mode_(ControlMode::Position),
-    dim_configuration_space_(configuration.jointnames.size()),
+        vi_(std::make_shared<DQ_VrepInterface>())
-    real_robot_topic_prefix_(configuration.real_robot_topic_prefix)
 {
-    vi_ = std::make_shared<DQ_VrepInterface>();
+    // should initialize robot driver interface to real robot
-    desired_joint_velocities_ = VectorXd::Zero(dim_configuration_space_);
+    DQ_SerialManipulatorDH smdh = DQ_JsonReader::get_from_json<DQ_SerialManipulatorDH>(configuration_.robot_parameter_file_path);
-    auto nodehandle = ros::NodeHandle();
+    joint_limits_ = {smdh.get_lower_q_limit(),smdh.get_upper_q_limit()};
-    std::cout<<"RobotDriverCoppelia::Rostopic: "<<"/"+real_robot_topic_prefix_<<std::endl;
+    if(configuration_.using_real_robot)
-    franka1_ros_ = std::make_shared<sas::RobotDriverInterface>(nodehandle, "/"+real_robot_topic_prefix_);
-}
-
-VectorXd RobotDriverCoppelia::get_joint_positions()
-{
-    return current_joint_positions_;
-}
-
-void RobotDriverCoppelia::set_target_joint_positions(const VectorXd &desired_joint_positions_rad)
-{
-    desired_joint_positions_ = desired_joint_positions_rad;
-}
-
-VectorXd RobotDriverCoppelia::get_joint_velocities()
-{
-    return current_joint_velocities_;
-}
-
-void RobotDriverCoppelia::set_target_joint_velocities(const VectorXd &desired_joint_velocities)
-{
-    desired_joint_velocities_ = desired_joint_velocities;
-}
-
-VectorXd RobotDriverCoppelia::get_joint_forces()
-{
-    return current_joint_forces_;
-}
-
-RobotDriverCoppelia::~RobotDriverCoppelia()=default;
-
-void RobotDriverCoppelia::connect()
-{
-
-    vi_->connect(configuration_.ip, configuration_.port, 500, 10);
-    vi_->set_joint_target_velocities(jointnames_, VectorXd::Zero(dim_configuration_space_));
-    std::cout<<"RobotDriverCoppelia::Connecting..."<<std::endl;
-}
-
-void RobotDriverCoppelia::disconnect()
-{
-    vi_->disconnect();
-    if (joint_velocity_control_mode_thread_.joinable())
     {
-        joint_velocity_control_mode_thread_.join();
+        ROS_INFO_STREAM("[" + ros::this_node::getName() + "]::Using real robot, Instantiating robot interface to real driver.");
-    }
+        real_robot_interface_ = std::make_shared<RobotDriverInterface>(nh, configuration_.robot_topic_prefix);
-    if (joint_velocity_control_mirror_mode_thread_.joinable())
-    {
-        joint_velocity_control_mirror_mode_thread_.join();
-    }
-    std::cout<<"RobotDriverCoppelia::Disconnected."<<std::endl;
-}
-
-void RobotDriverCoppelia::initialize()
-{
-    vi_->start_simulation();
-    if (mirror_mode_ == false)
-    {
-        _start_joint_velocity_control_thread();
     }else{
-        _start_joint_velocity_control_mirror_thread();
+        ROS_INFO_STREAM("[" + ros::this_node::getName() + "]::Using simulation robot, simulation mode is set to "+ configuration_.robot_mode);
-    }
+        robot_provider_ = std::make_shared<RobotDriverProvider>(nh, configuration_.robot_topic_prefix);
-    std::cout<<"RobotDriverCoppelia::Velocity loop running..."<<std::endl;
+        std::string _mode_upper = configuration_.robot_mode;
-}
+        std::transform(_mode_upper.begin(), _mode_upper.end(), _mode_upper.begin(), ::toupper);
-
+        if(_mode_upper == "POSITIONCONTROL"){
-void RobotDriverCoppelia::deinitialize()
+            robot_mode_ = ControlMode::Position;
-{
+        }else if(_mode_upper == "VELOCITYCONTROL"){
-    vi_->set_joint_target_velocities(jointnames_, VectorXd::Zero(dim_configuration_space_));
+            robot_mode_ = ControlMode::Velocity;
-    vi_->stop_simulation();
+        }else{
-    finish_motion();
+            throw std::invalid_argument("[" + ros::this_node::getName() + "]::Robot mode must be either 'position' or 'velocity'");
-    std::cout<<"RobotDriverCoppelia::Deinitialized."<<std::endl;
-}
-
-
-
-
-void RobotDriverCoppelia::_update_robot_state(const VectorXd &q, const VectorXd &q_dot, const VectorXd &forces)
-{
-    current_joint_positions_  = q;
-    current_joint_velocities_ = q_dot;
-    current_joint_forces_     =  forces;
-}
-
-void RobotDriverCoppelia::finish_motion()
-{
-    for (int i=0;i<1000;i++)
-    {
-        set_target_joint_positions(current_joint_positions_);
-        set_target_joint_velocities(VectorXd::Zero(dim_configuration_space_));
-        std::this_thread::sleep_for(std::chrono::milliseconds(1));
-    }
-    finish_motion_ = true;
-}
-
-void RobotDriverCoppelia::_start_joint_velocity_control_mode()
-{
-    try{
-        finish_motion_ = false;
-        VectorXd q = vi_->get_joint_positions(jointnames_);
-        VectorXd q_dot =  vi_->get_joint_velocities(jointnames_);
-        VectorXd forces = vi_->get_joint_torques(jointnames_);
-        _update_robot_state(q, q_dot, forces);
-
-        desired_joint_positions_ = q;
-        while(true)
-        {
-
-            VectorXd q = vi_->get_joint_positions(jointnames_);
-            VectorXd q_dot =  vi_->get_joint_velocities(jointnames_);
-            VectorXd forces = vi_->get_joint_torques(jointnames_);
-            _update_robot_state(q, q_dot, forces);
-
-
-            if (robot_mode_  == std::string("VelocityControl"))
-            {              
-                    vi_->set_joint_target_velocities(jointnames_, desired_joint_velocities_); 
-            }
-            else if (robot_mode_  == std::string("PositionControl"))
-            {
-                    vi_->set_joint_target_positions(jointnames_, desired_joint_positions_);
-            }
-            if (finish_motion_) {
-                    finish_motion_ = false;
-                    return;
         }
     }
-    }
-    catch(const std::exception& e)
-    {
-        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mode(). Error or exception caught " << e.what()<<std::endl;
-    }
-    catch(...)
-    {
-        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mode(). Error or exception caught " <<std::endl;
-    }
-
 
 }
 
-void RobotDriverCoppelia::_start_joint_velocity_control_thread()
+void RobotDriverCoppelia::_update_vrep_position(const VectorXd &joint_positions, const bool& force_update) const{
-{
+    if(configuration_.vrep_dynamically_enabled){
-    finish_motion_ = false;
+        if(force_update){
-    if (joint_velocity_control_mode_thread_.joinable())
+            vi_->set_joint_positions(configuration_.vrep_joint_names, joint_positions);
-    {
-        joint_velocity_control_mode_thread_.join();
         }
-    if (joint_velocity_control_mirror_mode_thread_.joinable())
+        vi_->set_joint_target_positions(configuration_.vrep_joint_names, joint_positions);
-    {
+    }else{
-        joint_velocity_control_mirror_mode_thread_.join();
+        vi_->set_joint_positions(configuration_.vrep_joint_names, joint_positions);
     }
-    joint_velocity_control_mode_thread_ = std::thread(&RobotDriverCoppelia::_start_joint_velocity_control_mode, this);
 }
 
-void RobotDriverCoppelia::_start_joint_velocity_control_mirror_thread()
+void RobotDriverCoppelia::_update_vrep_velocity(const VectorXd & joint_velocity) const{
-{
+    if(!configuration_.vrep_dynamically_enabled){
-    finish_motion_ = false;
+        throw std::runtime_error("[RobotDriverCoppelia]::[_update_vrep_velocity]::Vrep is not dynamically enabled");
-    if (joint_velocity_control_mode_thread_.joinable())
-    {
-        joint_velocity_control_mode_thread_.join();
     }
-    if (joint_velocity_control_mirror_mode_thread_.joinable())
+    vi_->set_joint_target_velocities(configuration_.vrep_joint_names, joint_velocity);
-    {
-        joint_velocity_control_mirror_mode_thread_.join();
-    }
-    joint_velocity_control_mirror_mode_thread_ = std::thread(&RobotDriverCoppelia::_start_joint_velocity_control_mirror_mode, this);
 }
 
-void RobotDriverCoppelia::_start_joint_velocity_control_mirror_mode()
+void RobotDriverCoppelia::_start_control_loop(){
-{
+    clock_.init();
-
+    ROS_INFO_STREAM("[" + ros::this_node::getName() + "]::Starting control loop...");
-    try{
+    while(!_should_shutdown()){
-        finish_motion_ = false;
+        clock_.update_and_sleep();
-        std::cout<<"RobotDriverCoppelia::Waiting for real robot topics..."<<std::endl;
-        VectorXd q;
-        while (ros::ok()) {
-            if (franka1_ros_->is_enabled())
-            {
-                    q = franka1_ros_->get_joint_positions();
-                    break;
-            }
         ros::spinOnce();
-        }
+        if(!ros::ok()){break_loops_->store(true);}
-        std::cout<<"RobotDriverCoppelia::Done!"<<std::endl;
+        if(configuration_.using_real_robot){
-
+            // real_robot_interface_
-        VectorXd q_vrep = vi_->get_joint_positions(jointnames_);
+            auto joint_position = real_robot_interface_->get_joint_positions();
-        VectorXd q_dot_vrep =  vi_->get_joint_velocities(jointnames_);
+            _update_vrep_position(joint_position);
-        VectorXd forces_vrep = vi_->get_joint_torques(jointnames_);
+        }else{
-        _update_robot_state(q_vrep, q_dot_vrep, forces_vrep);
+            // robot_provider_
-
+            VectorXd target_joint_positions;
-        desired_joint_positions_ = q_vrep;
+            auto current_joint_positions = vi_->get_joint_positions(configuration_.vrep_joint_names);
-
+            VectorXd current_joint_velocity;
-
+            if(robot_provider_->is_enabled()) {
-        while(ros::ok())
+                if(robot_mode_ == ControlMode::Velocity)
                 {
-            q = franka1_ros_->get_joint_positions();
+                    if(robot_provider_->is_enabled(sas::RobotDriver::Functionality::VelocityControl)) {
-            if (q.size() == dim_configuration_space_)
+                        simulated_joint_velocities_ = robot_provider_->get_target_joint_velocities();
-            {
+                        current_joint_velocity = simulated_joint_velocities_;
-                VectorXd q_vrep = vi_->get_joint_positions(jointnames_);
+                        //                    try{_update_vrep_velocity(simulated_joint_velocities_);}catch (...){}
-                VectorXd q_dot_vrep =  vi_->get_joint_velocities(jointnames_);
+                    }
-                VectorXd forces_vrep = vi_->get_joint_torques(jointnames_);
+                    else{
-                _update_robot_state(q_vrep, q_dot_vrep, forces_vrep);
+                        ROS_DEBUG_STREAM("[" + ros::this_node::getName() + "]::Velocity control is not enabled.");
+                    }
+                    target_joint_positions = simulated_joint_positions_;
+                }else{
+                    target_joint_positions = robot_provider_->get_target_joint_positions();
+                }
+            }else {
+                target_joint_positions = current_joint_positions;
+            }
+            _update_vrep_position(target_joint_positions);
+            robot_provider_->send_joint_states(current_joint_positions, current_joint_velocity, VectorXd());
+            robot_provider_->send_joint_limits(joint_limits_);
 
-
-                if (robot_mode_  == std::string("VelocityControl"))
-                {
-                    vi_->set_joint_target_velocities(jointnames_, gain_*(q-q_vrep));
         }
-                else if (robot_mode_  == std::string("PositionControl"))
-                {
-                        vi_->set_joint_target_positions(jointnames_, q);
-                }
-                if (finish_motion_) {
-                        finish_motion_ = false;
-                        return;
-                }
-            }
-        }
-    }
-    catch(const std::exception& e)
-    {
-        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mirror_mode(). Error or exception caught " << e.what()<<std::endl;
-    }
-    catch(...)
-    {
-        std::cout<<"RobotDriverCoppelia::sas_robot_coppelia_driver::_start_joint_velocity_control_mirror_mode(). Error or exception caught " <<std::endl;
     }
 
 
 }
 
+int RobotDriverCoppelia::start_control_loop(){
+    try{
+        ROS_INFO_STREAM(ros::this_node::getName() << "::Waiting to connect with coppelia...");
+        connect();
+        ROS_INFO_STREAM(ros::this_node::getName() << "::Connected to coppelia.");
+        ROS_INFO_STREAM(ros::this_node::getName() << "::Initializing...");
+        initialize();
+        ROS_INFO_STREAM(ros::this_node::getName() << "::initialized.");
+
+        _start_control_loop();
+    }
+    catch(const std::exception& e)
+    {
+        ROS_WARN_STREAM(ros::this_node::getName() + "::Error or exception caught::" << e.what());
+    }
+    catch(...)
+    {
+        ROS_WARN_STREAM(ros::this_node::getName() + "::Unexpected error or exception caught");
+    }
+    ROS_INFO_STREAM(ros::this_node::getName() << "::Deinitializing...");
+    deinitialize();
+    ROS_INFO_STREAM(ros::this_node::getName() << "::deinitialized.");
+    ROS_INFO_STREAM(ros::this_node::getName() << "::Disconnecting from coppelia...");
+    disconnect();
+    ROS_INFO_STREAM(ros::this_node::getName() << "::Disconnected from coppelia.");
+
+    return 0;
+}
+
+
+void RobotDriverCoppelia::connect(){
+    auto ret = vi_->connect(configuration_.vrep_ip, configuration_.vrep_port, 100, 10);
+    if(!ret){
+        throw std::runtime_error("[RobotDriverCoppelia]::connect::Could not connect to Vrep");
+    }
+    ROS_INFO_STREAM("[" + ros::this_node::getName() + "]::[RobotDriverCoppelia]::connect::Connected to Vrep");
+}
+void RobotDriverCoppelia::disconnect(){
+    vi_->disconnect_all();
+}
+
+void RobotDriverCoppelia::initialize(){
+    if(configuration_.using_real_robot)
+    {
+        ROS_INFO_STREAM("[" + ros::this_node::getName() +"]::[RobotDriverCoppelia]::initialize::Waiting for real robot interface to initialize...");
+        ros::spinOnce();
+        int count = 0;
+        while (!real_robot_interface_->is_enabled()) {
+            ros::spinOnce();
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            count++;
+            if(count > REAL_ROBOT_INTERFACE_INIT_TIMEOUT_COUNT){
+                ROS_ERROR_STREAM("[" + ros::this_node::getName() +"]::[RobotDriverCoppelia]::initialize::Real robot interface not initialized. Exiting on TIMEOUT...");
+                throw std::runtime_error("[" + ros::this_node::getName() +"]::[RobotDriverCoppelia]::initialize::Real robot interface not initialized.");
+            }
+            if(!ros::ok()) {
+                ROS_WARN_STREAM("[" + ros::this_node::getName() +"]::[RobotDriverCoppelia]::initialize::ROS shutdown recieved. Exiting...");
+                throw std::runtime_error("[" + ros::this_node::getName() +"]::[RobotDriverCoppelia]::initialize::ROS shutdown recieved, not OK.");
+            }
+        }
+        ROS_INFO_STREAM("[" + ros::this_node::getName() +"]::[RobotDriverCoppelia]::initialize::Real robot interface initialized.");
+        joint_limits_ = real_robot_interface_->get_joint_limits();
+        _update_vrep_position(real_robot_interface_->get_joint_positions(), true);
+    }else{
+        ROS_INFO_STREAM("[" + ros::this_node::getName() +"]::[RobotDriverCoppelia]::initialize::Simulation mode.");
+        // initialization information for robot driver provider
+        /**
+        * TODO: check for making sure real robot is not actually connected
+        */
+        auto current_joint_positions = vi_->get_joint_positions(configuration_.vrep_joint_names);
+        VectorXd current_joint_velocity;
+        if(robot_mode_ == ControlMode::Velocity)
+        {current_joint_velocity = VectorXd::Zero(current_joint_positions.size());}
+        robot_provider_->send_joint_states(current_joint_positions, current_joint_velocity, VectorXd());
+        robot_provider_->send_joint_limits(joint_limits_);
+        // start velocity control simulation thread if needed
+        if(robot_mode_ == ControlMode::Velocity)
+        {
+            simulated_joint_positions_ = current_joint_positions;
+            simulated_joint_velocities_ = current_joint_velocity;
+            start_simulation_thread();
+        }
+    }
+}
+void RobotDriverCoppelia::deinitialize(){
+    // nothing to do
+}
+
+void RobotDriverCoppelia::start_simulation_thread(){ // thread entry point
+    if(simulation_thread_started_){
+        throw std::runtime_error("[RobotDriverCoppelia]::start_simulation_thread::Simulation thread already started");
+    }
+    if(velocity_control_simulation_thread_.joinable()){
+        velocity_control_simulation_thread_.join();
+    }
+
+    velocity_control_simulation_thread_ = std::thread(&RobotDriverCoppelia::_velocity_control_simulation_thread_main, this);
+}
+
+void RobotDriverCoppelia::_velocity_control_simulation_thread_main(){
+    /**
+     * This thread should not access vrep
+     */
+    simulation_thread_started_ = true;
+    try{
+        ROS_INFO_STREAM("[" + ros::this_node::getName() +
+                        "]::[RobotDriverCoppelia]::[_velocity_control_simulation_thread_main]::Simulation thread started.");
+        sas::Clock clock = sas::Clock(VIRTUAL_ROBOT_SIMULATION_SAMPLING_TIME_NSEC);
+        double tau = static_cast<double>(VIRTUAL_ROBOT_SIMULATION_SAMPLING_TIME_NSEC) * 1e-9;
+        auto current_joint_positions = simulated_joint_positions_;
+        clock.init();
+        while (!(*break_loops_) && ros::ok()) {
+
+            current_joint_positions += tau * simulated_joint_velocities_; // no dynamic model
+            // cap joint limit
+            auto q_min = std::get<0>(joint_limits_);
+            auto q_max = std::get<1>(joint_limits_);
+            for (int i = 0; i < current_joint_positions.size(); i++) {
+                if (current_joint_positions(i) < q_min(i)) {
+                    current_joint_positions(i) = q_min(i);
+                }
+                if (current_joint_positions(i) > q_max(i)) {
+                    current_joint_positions(i) = q_max(i);
+                }
+            }
+            simulated_joint_positions_ = current_joint_positions;
+            clock.update_and_sleep();
+        }
+    }catch(std::exception &e){
+        ROS_ERROR_STREAM("[" + ros::this_node::getName() + "]::[RobotDriverCoppelia]::[_velocity_control_simulation_thread_main]::Exception::" + e.what());
+        simulation_thread_started_ = false;
+    }catch(...){
+        ROS_ERROR_STREAM("[" + ros::this_node::getName() + "]::[RobotDriverCoppelia]::[_velocity_control_simulation_thread_main]::Exception::Unknown");
+        simulation_thread_started_ = false;
+    }
+
+}
 
 
 

src/coppelia/sas_robot_driver_coppelia.h

@@ -39,10 +39,18 @@
 #include <memory>
 #include <dqrobotics/DQ.h>
 #include <sas_robot_driver/sas_robot_driver.h>
-#include <dqrobotics/interfaces/vrep/DQ_VrepRobot.h>
+#include <sas_clock/sas_clock.h>
+// #include <dqrobotics/interfaces/vrep/DQ_VrepRobot.h>
+#include <dqrobotics/interfaces/vrep/DQ_VrepInterface.h>
+#include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
+// #include <dqrobotics/robot_modeling/DQ_SerialManipulatorDH.h>
 #include <thread>
+#include <atomic>
 #include <sas_robot_driver/sas_robot_driver_interface.h>
+#include <sas_robot_driver/sas_robot_driver_provider.h>
 
+#define VIRTUAL_ROBOT_SIMULATION_SAMPLING_TIME_NSEC 2000000  // 2ms, 500Hz
+#define REAL_ROBOT_INTERFACE_INIT_TIMEOUT_COUNT 500
 using namespace DQ_robotics;
 using namespace Eigen;
 
@@ -54,81 +62,78 @@ namespace sas
 struct RobotDriverCoppeliaConfiguration
 {
 
-    int thread_sampling_time_nsec;
+    int thread_sampling_time_nsec;  // frontend vrep update rate
-    int port;
+    int vrep_port;
-    std::string ip;
+    std::string vrep_ip;
-    std::vector<std::string> jointnames;
+    std::vector<std::string> vrep_joint_names;
+    bool vrep_dynamically_enabled = false;
     std::string robot_mode;
-    bool mirror_mode;
+    bool using_real_robot;
-    std::string real_robot_topic_prefix;
+    std::string robot_topic_prefix;
+    std::string robot_parameter_file_path;
+    // VectorXd q_min;
+    // VectorXd q_max;
 };
 
-class RobotDriverCoppelia: public RobotDriver
+class RobotDriverCoppelia
 {
 private:
+    enum ControlMode{
+        Position=0,
+        Velocity
+    };
+
     RobotDriverCoppeliaConfiguration configuration_;
 
-    std::string robot_mode_ = std::string("VelocityControl");   // PositionControl
+    Clock clock_;
-    bool mirror_mode_ = false;
+    std::atomic_bool* break_loops_;
-    double gain_ = 3.0;
+    bool _should_shutdown() const {return (*break_loops_);}
-    std::string real_robot_topic_prefix_;
+    ControlMode robot_mode_;
 
-    VectorXd current_joint_positions_;
-    VectorXd current_joint_velocities_;
-    VectorXd current_joint_forces_;
-
-
-    VectorXd desired_joint_velocities_;
-    VectorXd desired_joint_positions_;
-
-    std::atomic<bool> finish_motion_;
-
-    int dim_configuration_space_;
-
-    void _update_robot_state(const VectorXd& q, const VectorXd& q_dot, const VectorXd& forces);
-
-    void finish_motion();
-
-    void _start_joint_velocity_control_mode();
-    std::thread joint_velocity_control_mode_thread_;
-    void _start_joint_velocity_control_thread();
-
-
-    void _start_joint_velocity_control_mirror_mode();
-    std::thread joint_velocity_control_mirror_mode_thread_;
-    void _start_joint_velocity_control_mirror_thread();
-
-    std::shared_ptr<sas::RobotDriverInterface> franka1_ros_;
-
-
-protected:
     std::shared_ptr<DQ_VrepInterface> vi_;
-    std::vector<std::string> jointnames_;
+    std::shared_ptr<sas::RobotDriverInterface> real_robot_interface_ = nullptr;
+    std::shared_ptr<sas::RobotDriverProvider> robot_provider_ = nullptr;
 
+    // backend thread for simulaton
+    /**
+     * Current simulation mechanism is not accounting for any robot dynamics, just the joint limits
+     */
+    std::thread velocity_control_simulation_thread_;
+    VectorXd simulated_joint_positions_;
+    VectorXd simulated_joint_velocities_;
+    void start_simulation_thread();  // thread entry point
+    void _velocity_control_simulation_thread_main();
+    std::atomic_bool simulation_thread_started_{false};
 
+    bool initialized_ = false;
+    inline void _assert_initialized() const{
+        if (!initialized_){throw std::runtime_error("[RobotDriverCoppelia] Robot driver not initialized");}
+    }
+    inline void _assert_is_alive() const{
+        if(!configuration_.using_real_robot && !simulation_thread_started_){throw std::runtime_error("[RobotDriverCoppelia] Robot Simulation is not alive");}
+    }
+
+    void _start_control_loop();
+protected:
+    inline void _update_vrep_position(const VectorXd &joint_positions, const bool& force_update=false) const;
+    inline void _update_vrep_velocity(const VectorXd & joint_velocity) const;
 
 public:
     RobotDriverCoppelia(const RobotDriverCoppelia&)=delete;
     RobotDriverCoppelia()=delete;
     ~RobotDriverCoppelia();
 
-    RobotDriverCoppelia(const RobotDriverCoppeliaConfiguration& configuration, std::atomic_bool* break_loops);
+    RobotDriverCoppelia(ros::NodeHandle nh, const RobotDriverCoppeliaConfiguration& configuration, std::atomic_bool* break_loops);
 
+    int start_control_loop();  // public entry point
 
-    VectorXd get_joint_positions() override;
+    void connect();
-    void set_target_joint_positions(const VectorXd& desired_joint_positions_rad) override;
+    void disconnect();
 
-    VectorXd get_joint_velocities() override;
+    void initialize();
-    void set_target_joint_velocities(const VectorXd& desired_joint_velocities) override;
+    void deinitialize();
-
-    VectorXd get_joint_forces() override;
-
-    void connect() override;
-    void disconnect() override;
-
-    void initialize() override;
-    void deinitialize() override;
 
+    std::tuple<VectorXd, VectorXd> joint_limits_;
 
 };
 }

src/sas_robot_driver_coppelia_node.cpp

@@ -26,6 +26,8 @@
 #      1. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
 #         - Adapted from sas_robot_driver_denso_node.cpp
 #           (https://github.com/SmartArmStack/sas_robot_driver_denso/blob/master/src/sas_robot_driver_denso_node.cpp)
+#      2. Quentin Lin (qlin1806@g.ecc.u-tokyo.ac.jp)
+          -Adapted for simplify operation
 #
 # ################################################################
 */
@@ -52,6 +54,7 @@ void sig_int_handler(int)
 }
 
 
+
 int main(int argc, char **argv)
 {
     if(signal(SIGINT, sig_int_handler) == SIG_ERR)
@@ -61,39 +64,37 @@ int main(int argc, char **argv)
 
     ros::init(argc, argv, "sas_robot_driver_coppelia_node", ros::init_options::NoSigintHandler);
     ROS_WARN("=====================================================================");
-    ROS_WARN("----------------------Juan Jose Quiroz Omana------------------------");
+    ROS_WARN("--------------------- Quentin Lin -----------------------------------");
     ROS_WARN("=====================================================================");
     ROS_INFO_STREAM(ros::this_node::getName()+"::Loading parameters from parameter server.");
 
 
     ros::NodeHandle nh;
     sas::RobotDriverCoppeliaConfiguration robot_driver_coppelia_configuration;
-
+    sas::get_ros_param(nh,"/thread_sampling_time_nsec",robot_driver_coppelia_configuration.thread_sampling_time_nsec);
-    sas::get_ros_param(nh,"/robot_ip_address",robot_driver_coppelia_configuration.ip);
+    sas::get_ros_param(nh,"/vrep_ip",robot_driver_coppelia_configuration.vrep_ip);
+    sas::get_ros_param(nh,"/vrep_port",robot_driver_coppelia_configuration.vrep_port);
+    sas::get_ros_param(nh,"/vrep_joint_names", robot_driver_coppelia_configuration.vrep_joint_names);
+    sas::get_ros_param(nh,"/vrep_dynamically_enabled", robot_driver_coppelia_configuration.vrep_dynamically_enabled);
     sas::get_ros_param(nh,"/robot_mode", robot_driver_coppelia_configuration.robot_mode);
-    sas::get_ros_param(nh,"/vrep_port", robot_driver_coppelia_configuration.port);
+    sas::get_ros_param(nh,"/using_real_robot", robot_driver_coppelia_configuration.using_real_robot);
-    sas::get_ros_param(nh,"/vrep_robot_joint_names", robot_driver_coppelia_configuration.jointnames);
+    sas::get_ros_param(nh,"/robot_topic_prefix", robot_driver_coppelia_configuration.robot_topic_prefix);
-    sas::get_ros_param(nh,"/mirror_mode", robot_driver_coppelia_configuration.mirror_mode);
+    sas::get_ros_param(nh,"/robot_parameter_file_path", robot_driver_coppelia_configuration.robot_parameter_file_path);
-    sas::get_ros_param(nh, "/real_robot_topic_prefix", robot_driver_coppelia_configuration.real_robot_topic_prefix);
-    sas::RobotDriverROSConfiguration robot_driver_ros_configuration;
 
-    sas::get_ros_param(nh,"/thread_sampling_time_nsec",robot_driver_ros_configuration.thread_sampling_time_nsec);
+    // std::vector<double> q_min_vec, q_max_vec;
-    sas::get_ros_param(nh,"/q_min",robot_driver_ros_configuration.q_min);
+    // sas::get_ros_param(nh,"/q_min", q_min_vec);
-    sas::get_ros_param(nh,"/q_max",robot_driver_ros_configuration.q_max);
+    // robot_driver_coppelia_configuration.q_min = sas::std_vector_double_to_vectorxd(q_min_vec);
+    // sas::get_ros_param(nh,"/q_max", q_max_vec);
+    // robot_driver_coppelia_configuration.q_max = sas::std_vector_double_to_vectorxd(q_max_vec);
 
-    robot_driver_ros_configuration.robot_driver_provider_prefix = ros::this_node::getName();
 
     try
     {
         ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating Coppelia robot.");
-        sas::RobotDriverCoppelia robot_driver_coppelia(robot_driver_coppelia_configuration,
+        sas::RobotDriverCoppelia robot_driver_coppelia(nh, robot_driver_coppelia_configuration,
                                                        &kill_this_process);
-        ROS_INFO_STREAM(ros::this_node::getName()+"::Instantiating RobotDriverROS.");
+
-        sas::RobotDriverROS robot_driver_ros(nh,
+        return robot_driver_coppelia.start_control_loop();
-                                             &robot_driver_coppelia,
-                                             robot_driver_ros_configuration,
-                                             &kill_this_process);
-        robot_driver_ros.control_loop();
     }
     catch (const std::exception& e)
     {