Joint Velocity Controller. More...

#include <joint_velocity_controller.h>

Inheritance diagram for effort_controllers::JointVelocityController:

Public Member Functions
void	getCommand (double &cmd)
	Get latest velocity command to the joint: revolute (angle) and prismatic (velocity).
void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
	Get the PID parameters.
std::string	getJointName ()
	Get the name of the joint this controller uses.
bool	init (hardware_interface::EffortJointInterface *robot, const std::string &joint_name, const control_toolbox::Pid &pid)
bool	init (hardware_interface::EffortJointInterface *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.
	JointVelocityController ()
void	printDebug ()
	Print debug info to console.
void	setCommand (double cmd)
	Give set velocity of the joint for next update: revolute (angle) and prismatic (velocity)
void	setGains (const double &p, const double &i, const double &d, const double &i_max, const double &i_min)
	Get the PID parameters.
void	starting (const ros::Time &time)
	This is called from within the realtime thread just before the first call to update.
void	update (const ros::Time &time, const ros::Duration &period)
	Issues commands to the joint. Should be called at regular intervals.
	~JointVelocityController ()
Public Attributes
double	command_
hardware_interface::JointHandle	joint_
Private Member Functions
void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
	Callback from /command subscriber for setpoint.
Private Attributes
boost::scoped_ptr < realtime_tools::RealtimePublisher < control_msgs::JointControllerState > >	controller_state_publisher_
int	loop_count_
control_toolbox::Pid	pid_controller_
ros::Subscriber	sub_command_

Detailed Description

Joint Velocity Controller.

This class controls velocity using a pid loop.

ROS

Parameters:

type	Must be "effort_controllers::JointVelocityController"
joint	Name of the joint to control.
pid	Contains the gains for the PID loop around velocity. See: control_toolbox::Pid

Subscribes to:

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

Publishes:

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

Definition at line 75 of file joint_velocity_controller.h.

Constructor & Destructor Documentation

effort_controllers::JointVelocityController::JointVelocityController ( )

Definition at line 42 of file joint_velocity_controller.cpp.

effort_controllers::JointVelocityController::~JointVelocityController ( )

Definition at line 46 of file joint_velocity_controller.cpp.

Member Function Documentation

void effort_controllers::JointVelocityController::getCommand ( double & cmd )

Get latest velocity command to the joint: revolute (angle) and prismatic (velocity).

Definition at line 118 of file joint_velocity_controller.cpp.

void effort_controllers::JointVelocityController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

Get the PID parameters.

Definition at line 96 of file joint_velocity_controller.cpp.

std::string effort_controllers::JointVelocityController::getJointName ( )

Get the name of the joint this controller uses.

Definition at line 106 of file joint_velocity_controller.cpp.

bool effort_controllers::JointVelocityController::init	(	hardware_interface::EffortJointInterface *	robot,
		const std::string &	joint_name,
		const control_toolbox::Pid &	pid
	)

Definition at line 51 of file joint_velocity_controller.cpp.

bool effort_controllers::JointVelocityController::init	(	hardware_interface::EffortJointInterface *	robot,
		ros::NodeHandle &	n
	)		`[virtual]`

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.

Reimplemented from controller_interface::Controller< hardware_interface::EffortJointInterface >.

Definition at line 62 of file joint_velocity_controller.cpp.

void effort_controllers::JointVelocityController::printDebug ( )

Print debug info to console.

Definition at line 101 of file joint_velocity_controller.cpp.

void effort_controllers::JointVelocityController::setCommand ( double cmd )

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

Parameters:

double pos Velocity command to issue

Definition at line 112 of file joint_velocity_controller.cpp.

void effort_controllers::JointVelocityController::setCommandCB ( const std_msgs::Float64ConstPtr & msg ) [private]

Callback from /command subscriber for setpoint.

Definition at line 163 of file joint_velocity_controller.cpp.

void effort_controllers::JointVelocityController::setGains	(	const double &	p,
		const double &	i,
		const double &	d,
		const double &	i_max,
		const double &	i_min
	)