husky_base::HuskyHardware Class Reference

#include <husky_hardware.h>

Inheritance diagram for husky_base::HuskyHardware:

Classes
struct	Joint

Public Member Functions
	HuskyHardware (ros::NodeHandle nh, ros::NodeHandle private_nh, double target_control_freq)
void	reportLoopDuration (const ros::Duration &duration)
void	updateDiagnostics ()
void	updateJointsFromHardware ()
void	writeCommandsToHardware ()
Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const
virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)
virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)
virtual void	read (const ros::Time &time, const ros::Duration &period)
virtual void	read (const ros::Time &time, const ros::Duration &period)
	RobotHW ()
virtual void	write (const ros::Time &time, const ros::Duration &period)
virtual void	write (const ros::Time &time, const ros::Duration &period)
virtual	~RobotHW ()
Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()
std::vector< std::string >	getInterfaceResources (std::string iface_type) const
std::vector< std::string >	getNames () const
void	registerInterface (T *iface)
void	registerInterfaceManager (InterfaceManager *iface_man)

Private Member Functions
double	angularToLinear (const double &angle) const
void	initializeDiagnostics ()
void	limitDifferentialSpeed (double &travel_speed_left, double &travel_speed_right)
double	linearToAngular (const double &travel) const
void	registerControlInterfaces ()
void	resetTravelOffset ()

Private Attributes
ros::Publisher	diagnostic_publisher_
diagnostic_updater::Updater	diagnostic_updater_
husky_msgs::HuskyStatus	husky_status_msg_
hardware_interface::JointStateInterface	joint_state_interface_
struct husky_base::HuskyHardware::Joint	joints_ [4]
double	max_accel_
double	max_speed_
ros::NodeHandle	nh_
double	polling_timeout_
HuskyHardwareDiagnosticTask< clearpath::DataPowerSystem >	power_status_task_
ros::NodeHandle	private_nh_
HuskyHardwareDiagnosticTask< clearpath::DataSafetySystemStatus >	safety_status_task_
HuskySoftwareDiagnosticTask	software_status_task_
HuskyHardwareDiagnosticTask< clearpath::DataSystemStatus >	system_status_task_
hardware_interface::VelocityJointInterface	velocity_joint_interface_
double	wheel_diameter_

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector
typedef std::map< std::string, void * >	InterfaceMap
typedef std::map< std::string, std::vector< std::string > >	ResourceMap
typedef std::map< std::string, size_t >	SizeMap
Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_
InterfaceManagerVector	interface_managers_
InterfaceMap	interfaces_
InterfaceMap	interfaces_combo_
SizeMap	num_ifaces_registered_
ResourceMap	resources_

Detailed Description

Class representing Husky hardware, allows for ros_control to modify internal state via joint interfaces

Definition at line 51 of file husky_hardware.h.

Constructor & Destructor Documentation

husky_base::HuskyHardware::HuskyHardware	(	ros::NodeHandle	nh,
		ros::NodeHandle	private_nh,
		double	target_control_freq
	)

Initialize Husky hardware

Definition at line 46 of file husky_hardware.cpp.

Member Function Documentation

double husky_base::HuskyHardware::angularToLinear ( const double &  angle ) const

private

RobotHW provides velocity command in rad/s, Husky needs m/s,

Definition at line 235 of file husky_hardware.cpp.

void husky_base::HuskyHardware::initializeDiagnostics ( )

private

Register diagnostic tasks with updater class

Definition at line 93 of file husky_hardware.cpp.

void husky_base::HuskyHardware::limitDifferentialSpeed ( double &  diff_speed_left, double &  diff_speed_right  )

private

Scale left and right speed outputs to maintain ros_control's desired trajectory without saturating the outputs

Definition at line 213 of file husky_hardware.cpp.

double husky_base::HuskyHardware::linearToAngular ( const double &  travel ) const

private

Husky reports travel in metres, need radians for ros_control RobotHW

Definition at line 227 of file husky_hardware.cpp.

void husky_base::HuskyHardware::registerControlInterfaces ( )

private

Register interfaces with the RobotHW interface manager, allowing ros_control operation

Definition at line 112 of file husky_hardware.cpp.

void husky_base::HuskyHardware::reportLoopDuration

(

const ros::Duration &

duration

)

Update diagnostics with control loop timing information

Definition at line 205 of file husky_hardware.cpp.

void husky_base::HuskyHardware::resetTravelOffset ( )

private

Get current encoder travel offsets from MCU and bias future encoder readings against them

Definition at line 73 of file husky_hardware.cpp.

void husky_base::HuskyHardware::updateDiagnostics

(

)

External hook to trigger diagnostic update

Definition at line 134 of file husky_hardware.cpp.

void husky_base::HuskyHardware::updateJointsFromHardware

(

)

Pull latest speed and travel measurements from MCU, and store in joint structure for ros_control

Definition at line 144 of file husky_hardware.cpp.

void husky_base::HuskyHardware::writeCommandsToHardware

(

)

Get latest velocity commands from ros_control via joint structure, and send to MCU

Definition at line 192 of file husky_hardware.cpp.

Member Data Documentation

ros::Publisher husky_base::HuskyHardware::diagnostic_publisher_

private

Definition at line 86 of file husky_hardware.h.

diagnostic_updater::Updater husky_base::HuskyHardware::diagnostic_updater_

private

Definition at line 88 of file husky_hardware.h.

husky_msgs::HuskyStatus husky_base::HuskyHardware::husky_status_msg_

private

Definition at line 87 of file husky_hardware.h.

hardware_interface::JointStateInterface husky_base::HuskyHardware::joint_state_interface_

private

Definition at line 82 of file husky_hardware.h.

struct husky_base::HuskyHardware::Joint husky_base::HuskyHardware::joints_[4]

private

double husky_base::HuskyHardware::max_accel_

private

Definition at line 95 of file husky_hardware.h.

double husky_base::HuskyHardware::max_speed_

private

Definition at line 95 of file husky_hardware.h.

ros::NodeHandle husky_base::HuskyHardware::nh_

private

Definition at line 79 of file husky_hardware.h.

double husky_base::HuskyHardware::polling_timeout_

private

Definition at line 97 of file husky_hardware.h.

HuskyHardwareDiagnosticTask<clearpath::DataPowerSystem> husky_base::HuskyHardware::power_status_task_

private

Definition at line 90 of file husky_hardware.h.

ros::NodeHandle husky_base::HuskyHardware::private_nh_

private

Definition at line 79 of file husky_hardware.h.

HuskyHardwareDiagnosticTask<clearpath::DataSafetySystemStatus> husky_base::HuskyHardware::safety_status_task_

private

Definition at line 91 of file husky_hardware.h.

HuskySoftwareDiagnosticTask husky_base::HuskyHardware::software_status_task_

private

Definition at line 92 of file husky_hardware.h.

HuskyHardwareDiagnosticTask<clearpath::DataSystemStatus> husky_base::HuskyHardware::system_status_task_

private

Definition at line 89 of file husky_hardware.h.

hardware_interface::VelocityJointInterface husky_base::HuskyHardware::velocity_joint_interface_

private

Definition at line 83 of file husky_hardware.h.

double husky_base::HuskyHardware::wheel_diameter_

private

Definition at line 95 of file husky_hardware.h.

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

• husky_hardware.h
• husky_hardware.cpp