Class OmniWheelDriveController

Defined in File omni_wheel_drive_controller.hpp

Nested Relationships

Nested Types

Struct OmniWheelDriveController::WheelHandle

Inheritance Relationships

Base Type

public controller_interface::ChainableControllerInterface

Class Documentation

class OmniWheelDriveController : public controller_interface::ChainableControllerInterface

Public Functions

OmniWheelDriveController()

controller_interface::CallbackReturn on_init() override

controller_interface::InterfaceConfiguration command_interface_configuration() const override

controller_interface::InterfaceConfiguration state_interface_configuration() const override

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

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

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

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

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

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

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

Protected Functions

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

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

void compute_and_set_wheel_velocities()

const char *feedback_type() const

void halt()

bool reset()

bool on_set_chained_mode(bool chained_mode) override

Protected Attributes

std::shared_ptr<ParamListener> param_listener_

Params params_

std::vector<WheelHandle> registered_wheel_handles_

rclcpp::Duration cmd_vel_timeout_ = rclcpp::Duration::from_seconds(0.5)

std::atomic_bool subscriber_is_active_ = false

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

realtime_tools::RealtimeThreadSafeBox<TwistStamped> received_velocity_msg_

TwistStamped command_msg_

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_

nav_msgs::msg::Odometry odometry_message_

Odometry odometry_

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_

geometry_msgs::msg::TransformStamped transform_

struct WheelHandle

Public Members

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

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