Class DiffDriveController

Defined in File diff_drive_controller.hpp

Nested Relationships

Nested Types

Struct DiffDriveController::WheelHandle

Inheritance Relationships

Base Type

public controller_interface::ControllerInterface

Class Documentation

class DiffDriveController : public controller_interface::ControllerInterface

Public Functions

DIFF_DRIVE_CONTROLLER_PUBLIC DiffDriveController()

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init () override

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_error (const rclcpp_lifecycle::State &previous_state) override

DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_shutdown (const rclcpp_lifecycle::State &previous_state) override

Protected Functions

const char *feedback_type() const

controller_interface::CallbackReturn configure_side(const std::string &side, const std::vector<std::string> &wheel_names, std::vector<WheelHandle> &registered_handles)

bool reset()

void halt()

Protected Attributes

std::vector<WheelHandle> registered_left_wheel_handles_

std::vector<WheelHandle> registered_right_wheel_handles_

std::shared_ptr<ParamListener> param_listener_

Params params_

int wheels_per_side_

Odometry odometry_

std::chrono::milliseconds cmd_vel_timeout_ = {500}

std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Odometry>> odometry_publisher_ = nullptr

std::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::msg::Odometry>> realtime_odometry_publisher_ = nullptr

std::shared_ptr<rclcpp::Publisher<tf2_msgs::msg::TFMessage>> odometry_transform_publisher_ = nullptr

std::shared_ptr<realtime_tools::RealtimePublisher<tf2_msgs::msg::TFMessage>> realtime_odometry_transform_publisher_ = nullptr

bool subscriber_is_active_ = false

rclcpp::Subscription<Twist>::SharedPtr velocity_command_subscriber_ = nullptr

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_command_unstamped_subscriber_ = nullptr

realtime_tools::RealtimeBox<std::shared_ptr<Twist>> received_velocity_msg_ptr_ = {nullptr}

std::queue<Twist> previous_commands_

SpeedLimiter limiter_linear_

SpeedLimiter limiter_angular_

bool publish_limited_velocity_ = false

std::shared_ptr<rclcpp::Publisher<Twist>> limited_velocity_publisher_ = nullptr

std::shared_ptr<realtime_tools::RealtimePublisher<Twist>> realtime_limited_velocity_publisher_ = nullptr

rclcpp::Time previous_update_timestamp_ = {0}

double publish_rate_ = 50.0

rclcpp::Duration publish_period_ = rclcpp::Duration::from_nanoseconds(0)

rclcpp::Time previous_publish_timestamp_ = {0, 0, RCL_CLOCK_UNINITIALIZED}

bool is_halted = false

bool use_stamped_vel_ = true

struct WheelHandle

Public Members

std::reference_wrapper<const hardware_interface::LoanedStateInterface> feedback

std::reference_wrapper<hardware_interface::LoanedCommandInterface> velocity