steer_drive_controller.h

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/*
 * Author: Enrique Fernández
 * Author: Masaru Morita
 */

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

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

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

#include <steer_drive_controller/odometry.h>
#include <steer_drive_controller/speed_limiter.h>
#include <steer_drive_controller/multi_interface_controller.h>

//#define GUI_DEBUG // uncommentout when you use qtcreator for debugging

namespace steer_drive_controller{

  class SteerDriveController
      : public controller_interface::MultiInterfaceController<
      hardware_interface::PositionJointInterface,
      hardware_interface::VelocityJointInterface>
  {
    // constants
  private:
    enum INDX_WHEEL {
      INDX_WHEEL_FRNT = 0,
      INDX_WHEEL_MID = 1,
      INDX_WHEEL_BACK = 2,
    };
    enum INDX_STEER {
      INDX_STEER_FRNT = 0,
      INDX_STEER_BACK = 1,
    };
    // constant
    enum INDEX_WHEEL {
      INDEX_RIGHT = 0,
      INDEX_LEFT = 1
    };
  public:
    SteerDriveController();

    bool init(//hardware_interface::VelocityJointInterface *hw,
              hardware_interface::RobotHW* robot_hw,
              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_;

    hardware_interface::JointHandle rear_wheel_joint_;
    hardware_interface::JointHandle front_steer_joint_;

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

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

    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 wheel_separation_h_;

    double wheel_radius_;

    double wheel_separation_h_multiplier_;
    double wheel_radius_multiplier_;
    double steer_pos_multiplier_;

    double cmd_vel_timeout_;

    bool allow_multiple_cmd_vel_publishers_;

    std::string base_frame_id_;

    std::string odom_frame_id_;

    bool enable_odom_tf_;

    size_t wheel_joints_size_;

    size_t steer_joints_size_;

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

    // FOR_DEBUG
    std::string ns_;

  private:
    void brake();

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

    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);

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

  };

  PLUGINLIB_EXPORT_CLASS(steer_drive_controller::SteerDriveController, controller_interface::ControllerBase)
} // namespace diff_drive_controller