Class SteeringControllersLibrary

• Defined in File steering_controllers_library.hpp

Inheritance Relationships

Base Type

• public controller_interface::ChainableControllerInterface

Class Documentation

class SteeringControllersLibrary : public controller_interface::ChainableControllerInterface

Public Types

using ControllerAckermannReferenceMsg = ackermann_msgs::msg::AckermannDriveStamped

using ControllerTwistReferenceMsg = geometry_msgs::msg::TwistStamped

using ControllerStateMsgOdom = nav_msgs::msg::Odometry

using ControllerStateMsgTf = tf2_msgs::msg::TFMessage

using AckermanControllerState = control_msgs::msg::SteeringControllerStatus

Public Functions

STEERING_CONTROLLERS__VISIBILITY_PUBLIC SteeringControllersLibrary()

virtual STEERING_CONTROLLERS__VISIBILITY_PUBLIC void initialize_implementation_parameter_listener ()=0

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_init () override

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

virtual STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn configure_odometry ()=0

virtual STEERING_CONTROLLERS__VISIBILITY_PUBLIC bool update_odometry (const rclcpp::Duration &period)=0

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

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

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

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::return_type update_reference_from_subscribers (const rclcpp::Time &time, const rclcpp::Duration &period) override

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::return_type update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Types

using ControllerStatePublisherOdom = realtime_tools::RealtimePublisher<ControllerStateMsgOdom>

using ControllerStatePublisherTf = realtime_tools::RealtimePublisher<ControllerStateMsgTf>

using ControllerStatePublisher = realtime_tools::RealtimePublisher<AckermanControllerState>

Protected Functions

controller_interface::CallbackReturn set_interface_numbers(size_t nr_state_itfs, size_t nr_cmd_itfs, size_t nr_ref_itfs)

std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override

bool on_set_chained_mode(bool chained_mode) override

Protected Attributes

std::shared_ptr<steering_controllers_library::ParamListener> param_listener_

steering_controllers_library::Params params_

rclcpp::Subscription<ControllerTwistReferenceMsg>::SharedPtr ref_subscriber_twist_ = nullptr

rclcpp::Subscription<ControllerTwistReferenceMsg>::SharedPtr ref_subscriber_ackermann_ = nullptr

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr ref_subscriber_unstamped_ = nullptr

realtime_tools::RealtimeBuffer<std::shared_ptr<ControllerTwistReferenceMsg>> input_ref_

rclcpp::Duration ref_timeout_ = rclcpp::Duration::from_seconds(0.0)

rclcpp::Publisher<ControllerStateMsgOdom>::SharedPtr odom_s_publisher_

rclcpp::Publisher<ControllerStateMsgTf>::SharedPtr tf_odom_s_publisher_

std::unique_ptr<ControllerStatePublisherOdom> rt_odom_state_publisher_

std::unique_ptr<ControllerStatePublisherTf> rt_tf_odom_state_publisher_

steering_odometry::SteeringOdometry odometry_

Odometry:

AckermanControllerState published_state_

rclcpp::Publisher<AckermanControllerState>::SharedPtr controller_s_publisher_

std::unique_ptr<ControllerStatePublisher> controller_state_publisher_

size_t nr_state_itfs_

size_t nr_cmd_itfs_

size_t nr_ref_itfs_

double last_linear_velocity_ = 0.0

double last_angular_velocity_ = 0.0

std::vector<std::string> rear_wheels_state_names_

std::vector<std::string> front_wheels_state_names_