Program Listing for File cartesian_twist.h
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/*
* Derived a bit from pr2_controllers/cartesian_pose_controller.cpp
* Author: Michael Ferguson, Wim Meeussen, Hanjun Song
*/
#ifndef ROBOT_CONTROLLERS__CARTESIAN_TWIST_H_
#define ROBOT_CONTROLLERS__CARTESIAN_TWIST_H_
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "robot_controllers_interface/controller.h"
#include "robot_controllers_interface/joint_handle.h"
#include "robot_controllers_interface/controller_manager.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "kdl/chain.hpp"
#include "kdl/chainiksolvervel_wdls.hpp"
#include "kdl/chainfksolver.hpp"
#include "kdl/chainfksolverpos_recursive.hpp"
#include "kdl/frames.hpp"
#include "robot_controllers/trajectory_spline_sampler.h"
namespace robot_controllers
{
class CartesianTwistController : public robot_controllers_interface::Controller
{
public:
CartesianTwistController();
virtual ~CartesianTwistController() {}
virtual int init(const std::string& name,
rclcpp::Node::SharedPtr node,
robot_controllers_interface::ControllerManagerPtr manager);
virtual bool start();
virtual bool stop(bool force);
virtual bool reset();
virtual void update(const rclcpp::Time& now, const rclcpp::Duration& dt);
virtual std::string getType()
{
return "robot_controllers/CartesianTwistController";
}
virtual std::vector<std::string> getCommandedNames();
virtual std::vector<std::string> getClaimedNames();
void command(const geometry_msgs::msg::TwistStamped::SharedPtr goal);
private:
KDL::Frame getPose();
bool initialized_;
rclcpp::Node::SharedPtr node_;
robot_controllers_interface::ControllerManagerPtr manager_;
bool enabled_;
KDL::Chain kdl_chain_;
std::shared_ptr<KDL::ChainIkSolverVel_wdls> solver_;
std::shared_ptr<KDL::ChainFkSolverPos_recursive> fksolver_;
KDL::JntArray tgt_jnt_pos_;
KDL::JntArray tgt_jnt_vel_;
KDL::JntArray last_tgt_jnt_vel_;
rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr command_sub_;
std::vector<robot_controllers_interface::JointHandlePtr> joints_;
std::mutex mutex_;
KDL::Twist twist_command_;
std::string twist_command_frame_;
rclcpp::Time last_command_time_;
bool is_active_;
};
} // namespace robot_controllers
#endif // ROBOT_CONTROLLERS__CARTESIAN_TWIST_H_