ROS-aware controller to manage a differential drive mobile base. This subcribes to cmd_vel topic, publishes odom and tf, and manages the two wheel joints. More...

#include <diff_drive_base.h>

Inheritance diagram for robot_controllers::DiffDriveBaseController:

[legend]

List of all members.

Public Member Functions
void	command (const geometry_msgs::TwistConstPtr &msg)
	Command callback from either a ROS topic, or a higher controller.
	DiffDriveBaseController ()
virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims.
virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands.
virtual std::string	getType ()
	Get the type of this controller.
virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures.
virtual bool	reset ()
	Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.
virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance.
virtual bool	stop (bool force)
	Attempt to stop the controller. This should be called only by the ControllerManager instance.
virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller.
virtual	~DiffDriveBaseController ()
Private Member Functions
void	publishCallback (const ros::TimerEvent &event)
void	scanCallback (const sensor_msgs::LaserScanConstPtr &scan)
void	setCommand (float left, float right)
Private Attributes
boost::shared_ptr < tf::TransformBroadcaster >	broadcaster_
ros::Subscriber	cmd_sub_
boost::mutex	command_mutex_
double	desired_r_
double	desired_x_
bool	enabled_
bool	initialized_
ros::Time	last_command_
ros::Time	last_laser_scan_
float	last_sent_r_
float	last_sent_x_
ros::Time	last_update_
JointHandlePtr	left_
float	left_last_position_
double	left_last_timestamp_
ControllerManager *	manager_
double	max_acceleration_r_
double	max_acceleration_x_
double	max_velocity_r_
double	max_velocity_x_
	Threshold for dx to be considered "moving".
double	moving_threshold_
	Threshold for dr to be considered "moving".
nav_msgs::Odometry	odom_
boost::mutex	odom_mutex_
ros::Publisher	odom_pub_
ros::Timer	odom_timer_
bool	publish_tf_
double	radians_per_meter_
bool	ready_
JointHandlePtr	right_
float	right_last_position_
double	right_last_timestamp_
double	robot_width_
double	rotating_threshold_
	Threshold for wheel velocity to be "moving".
double	safety_scaling_
double	safety_scaling_distance_
ros::Subscriber	scan_sub_
double	theta_
ros::Duration	timeout_
double	track_width_
double	wheel_rotating_threshold_

Detailed Description

ROS-aware controller to manage a differential drive mobile base. This subcribes to cmd_vel topic, publishes odom and tf, and manages the two wheel joints.

Definition at line 63 of file diff_drive_base.h.

Constructor & Destructor Documentation

robot_controllers::DiffDriveBaseController::DiffDriveBaseController ( )

Definition at line 47 of file diff_drive_base.cpp.

virtual robot_controllers::DiffDriveBaseController::~DiffDriveBaseController ( ) [inline, virtual]

Definition at line 67 of file diff_drive_base.h.

Member Function Documentation

void robot_controllers::DiffDriveBaseController::command ( const geometry_msgs::TwistConstPtr & msg )

Command callback from either a ROS topic, or a higher controller.

Definition at line 158 of file diff_drive_base.cpp.

std::vector< std::string > robot_controllers::DiffDriveBaseController::getClaimedNames ( ) [virtual]

Get the names of joints/controllers which this controller exclusively claims.

Implements robot_controllers::Controller.

Definition at line 348 of file diff_drive_base.cpp.

std::vector< std::string > robot_controllers::DiffDriveBaseController::getCommandedNames ( ) [virtual]

Get the names of joints/controllers which this controller commands.

Implements robot_controllers::Controller.

Definition at line 338 of file diff_drive_base.cpp.

virtual std::string robot_controllers::DiffDriveBaseController::getType ( ) [inline, virtual]

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 110 of file diff_drive_base.h.

int robot_controllers::DiffDriveBaseController::init	(	ros::NodeHandle &	nh,
		ControllerManager *	manager
	)		`[virtual]`

Initialize the controller and any required data structures.

Parameters:

nh	Node handle for this controller.
manager	The controller manager instance, this is needed for the controller to get information about joints, etc.

Returns:: 0 if succesfully configured, negative values are error codes.

Reimplemented from robot_controllers::Controller.

Definition at line 63 of file diff_drive_base.cpp.

void robot_controllers::DiffDriveBaseController::publishCallback ( const ros::TimerEvent & event ) [private]

Definition at line 354 of file diff_drive_base.cpp.

bool robot_controllers::DiffDriveBaseController::reset ( ) [virtual]

Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.