ackermann_controller.h

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#include <controller_interface/controller_base.h>
#include <hardware_interface/joint_command_interface.h>
#include <pluginlib/class_list_macros.h>

#include <nav_msgs/Odometry.h>
#include <ackermann_msgs/AckermannDrive.h>
#include <tf/tfMessage.h>

#include <realtime_tools/realtime_buffer.h>
#include <realtime_tools/realtime_publisher.h>

#include <ackermann_controller/odometry.h>
#include <ackermann_controller/speed_limiter.h>

namespace ackermann_controller{

  class AckermannController
      : public controller_interface::ControllerBase
  {
  public:
    AckermannController();

    virtual bool initRequest(hardware_interface::RobotHW *const robot_hw,
              ros::NodeHandle& root_nh,
              ros::NodeHandle &controller_nh,
              std::set<std::string>& claimed_resources);
    std::string getHardwareInterfaceType() const
    {
      return "";
    }

    bool init(hardware_interface::PositionJointInterface* hw_pos,
                                     hardware_interface::VelocityJointInterface* hw_vel,
                                     ros::NodeHandle& root_nh,
                                     ros::NodeHandle &controller_nh);

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

    void starting(const ros::Time& time);

    void stopping(const ros::Time& time);

  private:
    std::string name_;

    ros::Duration publish_period_;
    ros::Time last_state_publish_time_;
    bool open_loop_;

    std::vector<hardware_interface::JointHandle> front_wheel_joints_;
    std::vector<hardware_interface::JointHandle> rear_wheel_joints_;
    std::vector<hardware_interface::JointHandle> front_steering_joints_;

    struct Commands
    {
      double lin;
      double ang;
      double steering;
      ros::Time stamp;

      Commands() : lin(0.0), ang(0.0), steering(0.0), stamp(0.0) {}
    };
    realtime_tools::RealtimeBuffer<Commands> command_;
    Commands command_struct_;
    ros::Subscriber sub_command_;

    realtime_tools::RealtimeBuffer<Commands> command_ackermann_;
    Commands command_struct_ackermann_;
    ros::Subscriber sub_command_ackermann_;

    boost::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > odom_pub_;
    boost::shared_ptr<realtime_tools::RealtimePublisher<tf::tfMessage> > tf_odom_pub_;
    Odometry odometry_;


    double track_;

    double front_wheel_radius_, rear_wheel_radius_;

    double steering_limit_;

    double wheel_base_;

    double cmd_vel_timeout_;

    std::string base_frame_id_;

    bool enable_odom_tf_;

    bool enable_twist_cmd_;

    Commands last1_cmd_;
    Commands last0_cmd_;
    SpeedLimiter limiter_lin_;
    SpeedLimiter limiter_ang_;

  private:
    void brake();

    void cmdVelCallback(const geometry_msgs::Twist& command);

    void cmdAckermannCallback(const ackermann_msgs::AckermannDrive& command);

    bool getWheelNames(ros::NodeHandle& controller_nh,
                       const std::string& wheel_param,
                       std::vector<std::string>& wheel_names);

    void setOdomPubFields(ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh);

    void handleSteeringSaturation(double& front_left_steering, double& front_right_steering);

  };

  PLUGINLIB_EXPORT_CLASS(ackermann_controller::AckermannController, controller_interface::ControllerBase);
} // namespace ackermann_controller