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00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 /* 00031 * Author: Stuart Glaser 00032 00033 Example config: 00034 00035 <controller type="CasterController" name="a_caster"> 00036 <joints caster="caster_joint" wheel_l="wheel_left_joint" wheel_r="wheel_right_joint"> 00037 <caster_pid p="5.0" i="0.0" d="0.0" iClamp="0.0" /> 00038 <wheel_pid p="4.0" i="0.0" d="0.0" iClamp="0.0" /> 00039 </controller> 00040 00041 YAML config 00042 \verbatim 00043 caster_fl: 00044 type: CasterController 00045 caster_pid: {p: 6.0} 00046 wheel_pid: {p: 4.0} 00047 joints: 00048 caster: fl_caster_rotation_joint 00049 wheel_l: fl_caster_l_wheel_joint 00050 wheel_r: fl_caster_r_wheel_joint 00051 \endverbatim 00052 00053 */ 00054 00055 #ifndef CASTER_CONTROLLER_H 00056 #define CASTER_CONTROLLER_H 00057 00058 #include "ros/node_handle.h" 00059 00060 #include "pr2_controller_interface/controller.h" 00061 #include "pr2_mechanism_model/robot.h" 00062 #include "control_toolbox/pid.h" 00063 #include "robot_mechanism_controllers/joint_velocity_controller.h" 00064 #include "std_msgs/Float64.h" 00065 #include <boost/thread/condition.hpp> 00066 00067 namespace controller { 00068 00069 class CasterController : public pr2_controller_interface::Controller 00070 { 00071 public: 00072 const static double WHEEL_RADIUS; 00073 const static double WHEEL_OFFSET; 00074 00075 CasterController(); 00076 ~CasterController(); 00077 00078 bool init(pr2_mechanism_model::RobotState *robot_state, 00079 const std::string &caster_joint, 00080 const std::string &wheel_l_joint, const std::string &wheel_r_joint, 00081 const control_toolbox::Pid &caster_pid, const control_toolbox::Pid &wheel_pid); 00082 bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n); 00083 00084 void update(); 00085 00086 double steer_velocity_; 00087 double drive_velocity_; 00088 00089 double getSteerPosition() { return caster_->position_; } 00090 double getSteerVelocity() { return caster_->velocity_; } 00091 00092 pr2_mechanism_model::JointState *caster_; 00093 00094 private: 00095 ros::NodeHandle node_; 00096 JointVelocityController caster_vel_, wheel_l_vel_, wheel_r_vel_; 00097 ros::Subscriber steer_cmd_; 00098 ros::Subscriber drive_cmd_; 00099 00100 void setSteerCB(const std_msgs::Float64ConstPtr& msg); 00101 void setDriveCB(const std_msgs::Float64ConstPtr& msg); 00102 }; 00103 00104 } 00105 00106 #endif