#include <steer_drive_controller.h>

Inheritance diagram for steer_drive_controller::SteerDriveController:

Classes
struct	Commands
	Velocity command related: More...
Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	Initialize controller.
void	starting (const ros::Time &time)
	Starts controller.
	SteerDriveController ()
void	stopping (const ros::Time &)
	Stops controller.
void	update (const ros::Time &time, const ros::Duration &period)
	Updates controller, i.e. computes the odometry and sets the new velocity commands.
Private Types
enum	INDEX_WHEEL { INDEX_RIGHT = 0, INDEX_LEFT = 1 }
enum	INDX_STEER { INDX_STEER_FRNT = 0, INDX_STEER_BACK = 1 }
enum	INDX_WHEEL { INDX_WHEEL_FRNT = 0, INDX_WHEEL_MID = 1, INDX_WHEEL_BACK = 2 }
Private Member Functions
void	brake ()
	Brakes the wheels, i.e. sets the velocity to 0.
void	cmdVelCallback (const geometry_msgs::Twist &command)
	Velocity command callback.
bool	setOdomParamsFromUrdf (ros::NodeHandle &root_nh, const std::string rear_wheel_name, const std::string front_steer_name, bool lookup_wheel_separation_h, bool lookup_wheel_radius)
	Sets odometry parameters from the URDF, i.e. the wheel radius and separation.
void	setOdomPubFields (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	Sets the odometry publishing fields.
Private Attributes
bool	allow_multiple_cmd_vel_publishers_
	Whether to allow multiple publishers on cmd_vel topic or not:
std::string	base_frame_id_
	Frame to use for the robot base:
double	cmd_vel_timeout_
	Timeout to consider cmd_vel commands old:
realtime_tools::RealtimeBuffer < Commands >	command_
Commands	command_struct_
bool	enable_odom_tf_
	Whether to publish odometry to tf or not:
hardware_interface::JointHandle	front_steer_joint_
Commands	last0_cmd_
Commands	last1_cmd_
	Speed limiters:
ros::Time	last_state_publish_time_
SpeedLimiter	limiter_ang_
SpeedLimiter	limiter_lin_
std::string	name_
std::string	ns_
std::string	odom_frame_id_
	Frame to use for odometry and odom tf:
boost::shared_ptr < realtime_tools::RealtimePublisher < nav_msgs::Odometry > >	odom_pub_
	Odometry related:
Odometry	odometry_
bool	open_loop_
ros::Duration	publish_period_
	Odometry related:
hardware_interface::JointHandle	rear_wheel_joint_
	Hardware handles:
size_t	steer_joints_size_
	Number of steer joints:
double	steer_pos_multiplier_
ros::Subscriber	sub_command_
boost::shared_ptr < realtime_tools::RealtimePublisher < tf::tfMessage > >	tf_odom_pub_
size_t	wheel_joints_size_
	Number of wheel joints:
double	wheel_radius_
	Wheel radius (assuming it's the same for the left and right wheels):
double	wheel_radius_multiplier_
double	wheel_separation_h_
	Wheel separation, wrt the midpoint of the wheel width:
double	wheel_separation_h_multiplier_
	Wheel separation and radius calibration multipliers:

Detailed Description

This class makes some assumptions on the model of the robot:

the rotation axes of wheels are collinear
the wheels are identical in radius Additional assumptions to not duplicate information readily available in the URDF:
the wheels have the same parent frame
a wheel collision geometry is a cylinder in the urdf
a wheel joint frame center's vertical projection on the floor must lie within the contact patch

Definition at line 67 of file steer_drive_controller.h.

Member Enumeration Documentation

enum steer_drive_controller::SteerDriveController::INDEX_WHEEL [private]

Enumerator:

INDEX_RIGHT
INDEX_LEFT

Definition at line 84 of file steer_drive_controller.h.

enum steer_drive_controller::SteerDriveController::INDX_STEER [private]

Enumerator:

INDX_STEER_FRNT
INDX_STEER_BACK

Definition at line 79 of file steer_drive_controller.h.

enum steer_drive_controller::SteerDriveController::INDX_WHEEL [private]

Enumerator:

INDX_WHEEL_FRNT
INDX_WHEEL_MID
INDX_WHEEL_BACK

Definition at line 74 of file steer_drive_controller.h.

Constructor & Destructor Documentation

steer_drive_controller::SteerDriveController::SteerDriveController ( )

Definition at line 112 of file steer_drive_controller.cpp.

Member Function Documentation

void steer_drive_controller::SteerDriveController::brake ( ) [private]

Brakes the wheels, i.e. sets the velocity to 0.

Definition at line 359 of file steer_drive_controller.cpp.

void steer_drive_controller::SteerDriveController::cmdVelCallback ( const geometry_msgs::Twist & command ) [private]

Velocity command callback.

Parameters:

command Velocity command message (twist)

Definition at line 368 of file steer_drive_controller.cpp.

bool steer_drive_controller::SteerDriveController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)		`[virtual]`

Initialize controller.

Parameters:

hw	Velocity joint interface for the wheels
root_nh	Node handle at root namespace
controller_nh	Node handle inside the controller namespace

Reimplemented from controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface, hardware_interface::VelocityJointInterface >.

Definition at line 130 of file steer_drive_controller.cpp.

bool steer_drive_controller::SteerDriveController::setOdomParamsFromUrdf	(	ros::NodeHandle &	root_nh,
		const std::string	rear_wheel_name,
		const std::string	front_steer_name,
		bool	lookup_wheel_separation_h,
		bool	lookup_wheel_radius
	)		`[private]`