joint_position_controller.h
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00035 
00036 #ifndef EFFORT_CONTROLLERS__JOINT_POSITION_CONTROLLER_H
00037 #define EFFORT_CONTROLLERS__JOINT_POSITION_CONTROLLER_H
00038 
00062 #include <ros/node_handle.h>
00063 #include <urdf/model.h>
00064 #include <control_toolbox/pid.h>
00065 #include <boost/scoped_ptr.hpp>
00066 #include <boost/thread/condition.hpp>
00067 #include <realtime_tools/realtime_publisher.h>
00068 #include <hardware_interface/joint_command_interface.h>
00069 #include <controller_interface/controller.h>
00070 #include <control_msgs/JointControllerState.h>
00071 #include <std_msgs/Float64.h>
00072 #include <control_msgs/JointControllerState.h>
00073 #include <realtime_tools/realtime_buffer.h>
00074 
00075 namespace effort_controllers
00076 {
00077 
00078 class JointPositionController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
00079 {
00080 public:
00081 
00085   struct Commands
00086   {
00087     double position_; // Last commanded position
00088     double velocity_; // Last commanded velocity
00089     bool has_velocity_; // false if no velocity command has been specified
00090   };
00091 
00092   JointPositionController();
00093   ~JointPositionController();
00094 
00108   bool init(hardware_interface::EffortJointInterface *robot, ros::NodeHandle &n);
00109 
00115   void setCommand(double pos_target);
00116 
00124   void setCommand(double pos_target, double vel_target);
00125 
00131   void starting(const ros::Time& time);
00132   
00136   void update(const ros::Time& time, const ros::Duration& period);
00137 
00141   void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
00142 
00146   void printDebug();
00147 
00151   void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);
00152 
00156   std::string getJointName();
00157 
00162   double getPosition();
00163 
00164   hardware_interface::JointHandle joint_;
00165   boost::shared_ptr<const urdf::Joint> joint_urdf_;
00166   realtime_tools::RealtimeBuffer<Commands> command_;
00167   Commands command_struct_; // pre-allocated memory that is re-used to set the realtime buffer
00168 
00169 private:
00170   int loop_count_;
00171   control_toolbox::Pid pid_controller_;       
00173   boost::scoped_ptr<
00174     realtime_tools::RealtimePublisher<
00175       control_msgs::JointControllerState> > controller_state_publisher_ ;
00176 
00177   ros::Subscriber sub_command_;
00178 
00182   void setCommandCB(const std_msgs::Float64ConstPtr& msg);
00183 
00189   void enforceJointLimits(double &command);
00190 
00191 };
00192 
00193 } // namespace
00194 
00195 #endif


effort_controllers
Author(s): Vijay Pradeep
autogenerated on Thu Jun 6 2019 18:58:55