Program Listing for File diff_drive_base.h

↰ Return to documentation for file (/tmp/ws/src/robot_controllers/robot_controllers/include/robot_controllers/diff_drive_base.h)

/*********************************************************************
 *  Software License Agreement (BSD License)
 *
 *  Copyright (c) 2020, Michael Ferguson
 *  Copyright (c) 2014-2015, Fetch Robotics Inc.
 *  Copyright (c) 2013, Unbounded Robotics Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Unbounded Robotics nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

// Author: Michael Ferguson

#ifndef ROBOT_CONTROLLERS__DIFF_DRIVE_BASE_H_
#define ROBOT_CONTROLLERS__DIFF_DRIVE_BASE_H_

#include <memory>
#include <mutex>
#include <string>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "robot_controllers_interface/controller.h"
#include "robot_controllers_interface/controller_manager.h"
#include "robot_controllers_interface/joint_handle.h"
#include "tf2_ros/transform_broadcaster.h"

#include "geometry_msgs/msg/twist.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"

namespace robot_controllers
{

class DiffDriveBaseController : public robot_controllers_interface::Controller
{
public:
  DiffDriveBaseController();
  virtual ~DiffDriveBaseController() {}

  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/DiffDriveBaseController";
  }

  virtual std::vector<std::string> getCommandedNames();

  virtual std::vector<std::string> getClaimedNames();

  void command(const geometry_msgs::msg::Twist::SharedPtr msg);

private:
  bool initialized_;
  rclcpp::Node::SharedPtr node_;
  robot_controllers_interface::ControllerManagerPtr manager_;

  void publishCallback();
  void scanCallback(const sensor_msgs::msg::LaserScan::SharedPtr scan);

  // Set base wheel speeds in m/s
  void setCommand(float left, float right);

  std::vector<robot_controllers_interface::JointHandlePtr> left_;
  std::vector<robot_controllers_interface::JointHandlePtr> right_;

  double track_width_;
  double radians_per_meter_;
  double theta_;

  double wheel_rotating_threshold_;
  double rotating_threshold_;
  double moving_threshold_;

  double max_velocity_x_;
  double max_velocity_r_;
  double max_acceleration_x_;
  double max_acceleration_r_;

  // Laser can provide additional safety limits on velocity
  double safety_scaling_;
  double safety_scaling_distance_;
  double robot_width_;
  rclcpp::Time last_laser_scan_;

  // These are the inputs from the ROS topic
  std::mutex command_mutex_;
  double desired_x_;
  double desired_r_;

  // These are from controller update
  float last_sent_x_;
  float last_sent_r_;

  float left_last_position_;
  float right_last_position_;
  double left_last_timestamp_;
  double right_last_timestamp_;

  rclcpp::Time last_command_;
  rclcpp::Time last_update_;
  rclcpp::Duration timeout_;

  std::mutex odom_mutex_;
  nav_msgs::msg::Odometry odom_;
  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
  rclcpp::TimerBase::SharedPtr odom_timer_;
  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_sub_;
  rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;

  std::unique_ptr<tf2_ros::TransformBroadcaster> broadcaster_;
  bool publish_tf_;

  bool enabled_;
  bool ready_;
};

using DiffDriveBaseControllerPtr = std::shared_ptr<DiffDriveBaseController>;

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS__DIFF_DRIVE_BASE_H_