Joint Position Controller. More...

#include <joint_position_controller.h>

Inheritance diagram for velocity_controllers::JointPositionController:

Classes
struct	Commands
	Store position and velocity command in struct to allow easier realtime buffer usage. More...

Public Member Functions
void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
	Get the PID parameters. More...

void	getGains (double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup)
	Get the PID parameters. More...

std::string	getJointName ()
	Get the name of the joint this controller uses. More...

double	getPosition ()
	Get the current position of the joint. More...

bool	init (hardware_interface::VelocityJointInterface *robot, ros::NodeHandle &n)
	The init function is called to initialize the controller from a non-realtime thread with a pointer to the hardware interface, itself, instead of a pointer to a RobotHW. More...

	JointPositionController ()

void	printDebug ()
	Print debug info to console. More...

void	setCommand (double pos_target)
	Give set position of the joint for next update: revolute (angle) and prismatic (position) More...

void	setCommand (double pos_target, double vel_target)
	Give set position of the joint for next update: revolute (angle) and prismatic (position) Also supports a target velocity. More...

void	setGains (const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup=false)
	Get the PID parameters. More...

void	starting (const ros::Time &time)
	This is called from within the realtime thread just before the first call to update. More...

void	update (const ros::Time &time, const ros::Duration &period)
	Issues commands to the joint. Should be called at regular intervals. More...

	~JointPositionController ()

Public Member Functions inherited from controller_interface::Controller< hardware_interface::VelocityJointInterface >
virtual bool	init (T *, ros::NodeHandle &)

virtual bool	init (T *, ros::NodeHandle &, ros::NodeHandle &)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Public Attributes
realtime_tools::RealtimeBuffer< Commands >	command_

Commands	command_struct_

hardware_interface::JointHandle	joint_

urdf::JointConstSharedPtr	joint_urdf_

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Private Member Functions
void	enforceJointLimits (double &command)
	Check that the command is within the hard limits of the joint. Checks for joint type first. Sets command to limit if out of bounds. More...

void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
	Callback from /command subscriber for setpoint. More...

Private Attributes
std::unique_ptr< realtime_tools::RealtimePublisher< control_msgs::JointControllerState > >	controller_state_publisher_

int	loop_count_

control_toolbox::Pid	pid_controller_

ros::Subscriber	sub_command_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

enum	ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED }

Protected Member Functions inherited from controller_interface::Controller< hardware_interface::VelocityJointInterface >
std::string	getHardwareInterfaceType () const

bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Detailed Description

Joint Position Controller.

This class controls positon using a pid loop.

ROS interface

Parameters

type	Must be "velocity_controllers::JointPositionController"
joint	Name of the joint to control.
pid	Contains the gains for the PID loop around position. See: control_toolbox::Pid

Subscribes to:

command (std_msgs::Float64) : The joint position to achieve.

Publishes:

state (control_msgs::JointControllerState) : Current state of the controller, including pid error and gains.

Definition at line 84 of file joint_position_controller.h.

Constructor & Destructor Documentation

◆ JointPositionController()

velocity_controllers::JointPositionController::JointPositionController ( )

Definition at line 83 of file joint_position_controller.cpp.

◆ ~JointPositionController()

velocity_controllers::JointPositionController::~JointPositionController ( )

Definition at line 87 of file joint_position_controller.cpp.

Member Function Documentation

◆ enforceJointLimits()

void velocity_controllers::JointPositionController::enforceJointLimits ( double & command )

private

Check that the command is within the hard limits of the joint. Checks for joint type first. Sets command to limit if out of bounds.

Parameters

command - the input to test

Definition at line 288 of file joint_position_controller.cpp.

◆ getGains() [1/2]

void velocity_controllers::JointPositionController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

Get the PID parameters.

Definition at line 138 of file joint_position_controller.cpp.

◆ getGains() [2/2]

void velocity_controllers::JointPositionController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min,
		bool &	antiwindup
	)

Get the PID parameters.

Definition at line 144 of file joint_position_controller.cpp.

◆ getJointName()

std::string velocity_controllers::JointPositionController::getJointName ( )

Get the name of the joint this controller uses.

Definition at line 154 of file joint_position_controller.cpp.

◆ getPosition()

double velocity_controllers::JointPositionController::getPosition ( )

Get the current position of the joint.

Returns: current position

Definition at line 159 of file joint_position_controller.cpp.

◆ init()

bool velocity_controllers::JointPositionController::init	(	hardware_interface::VelocityJointInterface *	robot,
		ros::NodeHandle &	n
	)

The init function is called to initialize the controller from a non-realtime thread with a pointer to the hardware interface, itself, instead of a pointer to a RobotHW.

Parameters

robot	The specific hardware interface used by this controller.
n	A NodeHandle in the namespace from which the controller should read its configuration, and where it should set up its ROS interface.

Returns: True if initialization was successful and the controller is ready to be started.

Definition at line 92 of file joint_position_controller.cpp.

◆ printDebug()

void velocity_controllers::JointPositionController::printDebug ( )

Print debug info to console.

Definition at line 149 of file joint_position_controller.cpp.

◆ setCommand() [1/2]

void velocity_controllers::JointPositionController::setCommand ( double pos_target )

Give set position of the joint for next update: revolute (angle) and prismatic (position)

Parameters

command

Definition at line 165 of file joint_position_controller.cpp.

◆ setCommand() [2/2]

void velocity_controllers::JointPositionController::setCommand	(	double	pos_target,
		double	vel_target
	)

Give set position of the joint for next update: revolute (angle) and prismatic (position) Also supports a target velocity.

Parameters

pos_target	- position setpoint
vel_target	- velocity setpoint

Definition at line 177 of file joint_position_controller.cpp.

◆ setCommandCB()

void velocity_controllers::JointPositionController::setCommandCB ( const std_msgs::Float64ConstPtr & msg )

private

Callback from /command subscriber for setpoint.

Definition at line 282 of file joint_position_controller.cpp.

◆ setGains()

void velocity_controllers::JointPositionController::setGains	(	const double &	p,
		const double &	i,
		const double &	d,
		const double &	i_max,
		const double &	i_min,
		const bool &	antiwindup = `false`
	)

Get the PID parameters.

Definition at line 133 of file joint_position_controller.cpp.

◆ starting()

void velocity_controllers::JointPositionController::starting ( const ros::Time & time )

virtual

This is called from within the realtime thread just before the first call to update.

Parameters

time	The current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 186 of file joint_position_controller.cpp.

◆ update()

void velocity_controllers::JointPositionController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Issues commands to the joint. Should be called at regular intervals.

Implements controller_interface::ControllerBase.

Definition at line 201 of file joint_position_controller.cpp.

Member Data Documentation

◆ command_

realtime_tools::RealtimeBuffer<Commands> velocity_controllers::JointPositionController::command_

Definition at line 177 of file joint_position_controller.h.

◆ command_struct_

Commands velocity_controllers::JointPositionController::command_struct_

Definition at line 178 of file joint_position_controller.h.

◆ controller_state_publisher_

std::unique_ptr< realtime_tools::RealtimePublisher< control_msgs::JointControllerState> > velocity_controllers::JointPositionController::controller_state_publisher_

private

Definition at line 186 of file joint_position_controller.h.

◆ joint_

hardware_interface::JointHandle velocity_controllers::JointPositionController::joint_

Definition at line 175 of file joint_position_controller.h.

◆ joint_urdf_

urdf::JointConstSharedPtr velocity_controllers::JointPositionController::joint_urdf_

Definition at line 176 of file joint_position_controller.h.

◆ loop_count_

int velocity_controllers::JointPositionController::loop_count_

private

Definition at line 181 of file joint_position_controller.h.

◆ pid_controller_

control_toolbox::Pid velocity_controllers::JointPositionController::pid_controller_

private

Internal PID controller.

Definition at line 182 of file joint_position_controller.h.

◆ sub_command_

ros::Subscriber velocity_controllers::JointPositionController::sub_command_

private

Definition at line 188 of file joint_position_controller.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

ROS interface

Constructor & Destructor Documentation

◆ JointPositionController()

◆ ~JointPositionController()

Member Function Documentation

◆ enforceJointLimits()

◆ getGains() [1/2]

◆ getGains() [2/2]

◆ getJointName()

◆ getPosition()

◆ init()

◆ printDebug()

◆ setCommand() [1/2]

◆ setCommand() [2/2]

◆ setCommandCB()

◆ setGains()

◆ starting()

◆ update()

Member Data Documentation

◆ command_

◆ command_struct_

◆ controller_state_publisher_

◆ joint_

◆ joint_urdf_

◆ loop_count_

◆ pid_controller_

◆ sub_command_