Class TricycleController
Defined in File tricycle_controller.hpp
Nested Relationships
Nested Types
Inheritance Relationships
Base Type
public controller_interface::ControllerInterface
Class Documentation
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class TricycleController : public controller_interface::ControllerInterface
Public Functions
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TRICYCLE_CONTROLLER_PUBLIC TricycleController()
- TRICYCLE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override
- TRICYCLE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override
- TRICYCLE_CONTROLLER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override
- TRICYCLE_CONTROLLER_PUBLIC CallbackReturn on_init () override
- TRICYCLE_CONTROLLER_PUBLIC CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override
- TRICYCLE_CONTROLLER_PUBLIC CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override
- TRICYCLE_CONTROLLER_PUBLIC CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override
- TRICYCLE_CONTROLLER_PUBLIC CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override
- TRICYCLE_CONTROLLER_PUBLIC CallbackReturn on_error (const rclcpp_lifecycle::State &previous_state) override
- TRICYCLE_CONTROLLER_PUBLIC CallbackReturn on_shutdown (const rclcpp_lifecycle::State &previous_state) override
Protected Functions
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CallbackReturn get_traction(const std::string &traction_joint_name, std::vector<TractionHandle> &joint)
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CallbackReturn get_steering(const std::string &steering_joint_name, std::vector<SteeringHandle> &joint)
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double convert_trans_rot_vel_to_steering_angle(double v, double omega, double wheelbase)
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std::tuple<double, double> twist_to_ackermann(double linear_command, double angular_command)
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bool reset()
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void halt()
Protected Attributes
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std::shared_ptr<ParamListener> param_listener_
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Params params_
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std::vector<TractionHandle> traction_joint_
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std::vector<SteeringHandle> steering_joint_
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std::shared_ptr<rclcpp::Publisher<AckermannDrive>> ackermann_command_publisher_ = nullptr
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std::shared_ptr<realtime_tools::RealtimePublisher<AckermannDrive>> realtime_ackermann_command_publisher_ = nullptr
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std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Odometry>> odometry_publisher_ = nullptr
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std::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::msg::Odometry>> realtime_odometry_publisher_ = nullptr
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std::shared_ptr<rclcpp::Publisher<tf2_msgs::msg::TFMessage>> odometry_transform_publisher_ = nullptr
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std::shared_ptr<realtime_tools::RealtimePublisher<tf2_msgs::msg::TFMessage>> realtime_odometry_transform_publisher_ = nullptr
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std::chrono::milliseconds cmd_vel_timeout_ = {500}
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bool subscriber_is_active_ = false
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rclcpp::Subscription<TwistStamped>::SharedPtr velocity_command_subscriber_ = nullptr
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rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_command_unstamped_subscriber_ = nullptr
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realtime_tools::RealtimeBox<std::shared_ptr<TwistStamped>> received_velocity_msg_ptr_ = {nullptr}
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rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reset_odom_service_
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std::queue<AckermannDrive> previous_commands_
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TractionLimiter limiter_traction_
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SteeringLimiter limiter_steering_
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bool is_halted = false
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struct SteeringHandle
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struct TractionHandle
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TRICYCLE_CONTROLLER_PUBLIC TricycleController()