#include <ackermann_controller.h>

Inheritance diagram for ackermann_controller::AckermannController:

Classes
struct	Commands

Public Member Functions
	AckermannController ()

bool	init (hardware_interface::RobotHW *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	Initialize controller. More...

void	starting (const ros::Time &time)
	Starts controller. More...

void	stopping (const ros::Time &)
	Stops controller. More...

void	update (const ros::Time &time, const ros::Duration &period)
	Updates controller, i.e. computes the odometry and sets the new velocity commands. More...

Public Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::JointStateInterface, hardware_interface::PositionJointInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

virtual	~MultiInterfaceController ()

Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()

bool	isRunning ()

bool	isRunning ()

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual	~ControllerBase ()

Private Member Functions
void	brake ()

void	cmdVelCallback (const geometry_msgs::Twist &command)

std::vector< std::string >	getJointNames (ros::NodeHandle &controller_nh, const std::string &param)

boost::shared_ptr< urdf::ModelInterface >	getURDFModel (const ros::NodeHandle &nh)

bool	initParams (ros::NodeHandle &controller_nh)

void	moveRobot (const ros::Time &time, const ros::Duration &period)

void	setOdomPubFields (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

void	updateOdometry (const ros::Time &time, const ros::Duration &period)

Private Attributes
std::string	base_frame_id_

std::string	base_link_

double	cmd_vel_timeout_

realtime_tools::RealtimeBuffer< Commands >	command_

Commands	command_struct_

bool	enable_odom_tf_

Commands	last0_cmd_

Commands	last1_cmd_

ros::Time	last_state_publish_time_

ackermann_controller::SpeedLimiter	limiter_

std::string	name_

std::string	odom_frame_id_

boost::shared_ptr< realtime_tools::RealtimePublisher< nav_msgs::Odometry > >	odom_pub_

ackermann_controller::Odometry	odometry_

std::vector< Wheel >	odometry_joints_

bool	open_loop_

ros::Duration	publish_period_

std::vector< ActuatedWheel >	spinning_joints_

bool	steering_angle_instead_of_angular_speed_

std::vector< ActuatedJoint >	steering_joints_

ros::Subscriber	sub_command_

boost::shared_ptr< realtime_tools::RealtimePublisher< tf::tfMessage > >	tf_odom_pub_

int	velocity_rolling_window_size_

double	wheelbase_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::JointStateInterface, hardware_interface::PositionJointInterface >
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::JointStateInterface, hardware_interface::PositionJointInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Protected Attributes inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::JointStateInterface, hardware_interface::PositionJointInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 25 of file ackermann_controller.h.

Constructor & Destructor Documentation

ackermann_controller::AckermannController::AckermannController ( )

Definition at line 20 of file ackermann_controller.cpp.

Member Function Documentation

void ackermann_controller::AckermannController::brake ( )

private

Definition at line 215 of file ackermann_controller.cpp.

void ackermann_controller::AckermannController::cmdVelCallback ( const geometry_msgs::Twist & command )

private

Definition at line 226 of file ackermann_controller.cpp.

std::vector< std::string > ackermann_controller::AckermannController::getJointNames	(	ros::NodeHandle &	controller_nh,
		const std::string &	param
	)

private

Definition at line 319 of file ackermann_controller.cpp.

boost::shared_ptr< urdf::ModelInterface > ackermann_controller::AckermannController::getURDFModel ( const ros::NodeHandle & nh )

private

Definition at line 304 of file ackermann_controller.cpp.

bool ackermann_controller::AckermannController::init	(	hardware_interface::RobotHW *	hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

virtual

Initialize controller.

Parameters

hw	Joint interface
root_nh	Node handle at root namespace
controller_nh	Node handle inside the controller namespace

Reimplemented from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::JointStateInterface, hardware_interface::PositionJointInterface >.

Definition at line 34 of file ackermann_controller.cpp.

bool ackermann_controller::AckermannController::initParams ( ros::NodeHandle & controller_nh )

private

Definition at line 248 of file ackermann_controller.cpp.

void ackermann_controller::AckermannController::moveRobot	(	const ros::Time &	time,
		const ros::Duration &	period
	)

private

Definition at line 153 of file ackermann_controller.cpp.

void ackermann_controller::AckermannController::setOdomPubFields	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

private

Definition at line 364 of file ackermann_controller.cpp.

void ackermann_controller::AckermannController::starting ( const ros::Time & time )

virtual

Starts controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 200 of file ackermann_controller.cpp.

void ackermann_controller::AckermannController::stopping ( const ros::Time & )

virtual

Stops controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 210 of file ackermann_controller.cpp.

void ackermann_controller::AckermannController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Updates controller, i.e. computes the odometry and sets the new velocity commands.

Parameters

time	Current time
period	Time since the last called to update

Implements controller_interface::ControllerBase.

Definition at line 106 of file ackermann_controller.cpp.

void ackermann_controller::AckermannController::updateOdometry	(	const ros::Time &	time,
		const ros::Duration &	period
	)

private

Definition at line 112 of file ackermann_controller.cpp.

Member Data Documentation

std::string ackermann_controller::AckermannController::base_frame_id_

private

Definition at line 98 of file ackermann_controller.h.

std::string ackermann_controller::AckermannController::base_link_

private

Definition at line 99 of file ackermann_controller.h.

double ackermann_controller::AckermannController::cmd_vel_timeout_

private

Definition at line 95 of file ackermann_controller.h.

realtime_tools::RealtimeBuffer<Commands> ackermann_controller::AckermannController::command_

private

Definition at line 85 of file ackermann_controller.h.

Commands ackermann_controller::AckermannController::command_struct_

private

Definition at line 86 of file ackermann_controller.h.

bool ackermann_controller::AckermannController::enable_odom_tf_

private

Definition at line 100 of file ackermann_controller.h.

Commands ackermann_controller::AckermannController::last0_cmd_

private

Definition at line 103 of file ackermann_controller.h.

Commands ackermann_controller::AckermannController::last1_cmd_

private

Definition at line 102 of file ackermann_controller.h.

ros::Time ackermann_controller::AckermannController::last_state_publish_time_

private

Definition at line 69 of file ackermann_controller.h.

ackermann_controller::SpeedLimiter ackermann_controller::AckermannController::limiter_

private

Definition at line 104 of file ackermann_controller.h.

std::string ackermann_controller::AckermannController::name_

private

Definition at line 66 of file ackermann_controller.h.

std::string ackermann_controller::AckermannController::odom_frame_id_

private

Definition at line 97 of file ackermann_controller.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > ackermann_controller::AckermannController::odom_pub_

private

Definition at line 89 of file ackermann_controller.h.

ackermann_controller::Odometry ackermann_controller::AckermannController::odometry_

private

Definition at line 91 of file ackermann_controller.h.

std::vector<Wheel> ackermann_controller::AckermannController::odometry_joints_

private

Definition at line 73 of file ackermann_controller.h.

bool ackermann_controller::AckermannController::open_loop_

private

Definition at line 70 of file ackermann_controller.h.

ros::Duration ackermann_controller::AckermannController::publish_period_

private

Definition at line 68 of file ackermann_controller.h.

std::vector<ActuatedWheel> ackermann_controller::AckermannController::spinning_joints_

private

Definition at line 72 of file ackermann_controller.h.

bool ackermann_controller::AckermannController::steering_angle_instead_of_angular_speed_

private

Definition at line 93 of file ackermann_controller.h.

std::vector<ActuatedJoint> ackermann_controller::AckermannController::steering_joints_

private

Definition at line 74 of file ackermann_controller.h.

ros::Subscriber ackermann_controller::AckermannController::sub_command_

private

Definition at line 87 of file ackermann_controller.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<tf::tfMessage> > ackermann_controller::AckermannController::tf_odom_pub_

private

Definition at line 90 of file ackermann_controller.h.

int ackermann_controller::AckermannController::velocity_rolling_window_size_

private

Definition at line 96 of file ackermann_controller.h.

double ackermann_controller::AckermannController::wheelbase_

private

Definition at line 94 of file ackermann_controller.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation