Inheritance diagram for mecanum_drive_controller::MecanumDriveController:

Classes
struct	Commands
	Velocity command related: More...

Public Member Functions
bool	init (hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	Initialize controller. More...

	MecanumDriveController ()

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

void	stopping (const ros::Time &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::Controller< hardware_interface::VelocityJointInterface >
	Controller ()

virtual bool	init (hardware_interface::VelocityJointInterface *, ros::NodeHandle &)

virtual	~Controller ()

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 ()
	Brakes the wheels, i.e. sets the velocity to 0. More...

void	cmdVelCallback (const geometry_msgs::Twist &command)
	Velocity command callback. More...

bool	getWheelRadius (const urdf::ModelInterfaceSharedPtr model, const urdf::LinkConstSharedPtr &wheel_link, double &wheel_radius)
	Get the radius of a given wheel. More...

void	setupRtPublishersMsg (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	Sets the odometry publishing fields. More...

bool	setWheelParamsFromUrdf (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, const std::string &wheel0_name, const std::string &wheel1_name, const std::string &wheel2_name, const std::string &wheel3_name)
	Sets odometry parameters from the URDF, i.e. the wheel radius and separation. More...

Private Attributes
std::string	base_frame_id_
	Frame to use for the robot base: More...

double	cmd_vel_timeout_
	Timeout to consider cmd_vel commands old: More...

realtime_tools::RealtimeBuffer< Commands >	command_

Commands	command_struct_

bool	enable_odom_tf_
	Whether to publish odometry to tf or not: More...

Commands	last_cmd_

ros::Time	last_state_publish_time_

SpeedLimiter	limiter_ang_

SpeedLimiter	limiter_linX_

SpeedLimiter	limiter_linY_

std::string	name_

geometry_msgs::TransformStamped	odom_frame_

std::string	odom_frame_id_

boost::shared_ptr< realtime_tools::RealtimePublisher< nav_msgs::Odometry > >	odom_pub_
	Odometry related: More...

Odometry	odometry_

bool	open_loop_

ros::Duration	publish_period_
	Odometry related: More...

ros::Subscriber	sub_command_

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

bool	use_realigned_roller_joints_
	Wheel radius (assuming it's the same for the left and right wheels): More...

hardware_interface::JointHandle	wheel0_jointHandle_
	Hardware handles: More...

hardware_interface::JointHandle	wheel1_jointHandle_

hardware_interface::JointHandle	wheel2_jointHandle_

hardware_interface::JointHandle	wheel3_jointHandle_

size_t	wheel_joints_size_
	Number of wheel joints: More...

double	wheel_separation_x_

double	wheel_separation_y_

double	wheels_k_

double	wheels_radius_

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::Controller< hardware_interface::VelocityJointInterface >
std::string	getHardwareInterfaceType () const

virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

This class makes some assumptions on the model of the robot:

the rotation axes of wheels are collinear
the wheels are identical in radius Additional assumptions to not duplicate information readily available in the URDF:
the wheels have the same parent frame
a wheel collision geometry is a cylinder in the urdf
a wheel joint frame center's vertical projection on the floor must lie within the contact patch

Definition at line 64 of file mecanum_drive_controller.h.

Constructor & Destructor Documentation

mecanum_drive_controller::MecanumDriveController::MecanumDriveController ( )

void mecanum_drive_controller::MecanumDriveController::brake ( )

private

Brakes the wheels, i.e. sets the velocity to 0.

void mecanum_drive_controller::MecanumDriveController::cmdVelCallback ( const geometry_msgs::Twist & command )

private

Velocity command callback.

Parameters

command Velocity command message (twist)

bool mecanum_drive_controller::MecanumDriveController::getWheelRadius	(	const urdf::ModelInterfaceSharedPtr	model,
		const urdf::LinkConstSharedPtr &	wheel_link,
		double &	wheel_radius
	)

private

Get the radius of a given wheel.

Parameters

	model	urdf model used
	wheel_link	link of the wheel from which to get the radius
[out]	wheels_radius	radius of the wheel read from the urdf

bool mecanum_drive_controller::MecanumDriveController::init	(	hardware_interface::VelocityJointInterface *	hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

virtual

Initialize controller.

Parameters

hw	Velocity joint interface for the wheels
root_nh	Node handle at root namespace
controller_nh	Node handle inside the controller namespace

void mecanum_drive_controller::MecanumDriveController::setupRtPublishersMsg	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

private

Sets the odometry publishing fields.

Parameters

root_nh	Root node handle
controller_nh	Node handle inside the controller namespace

bool mecanum_drive_controller::MecanumDriveController::setWheelParamsFromUrdf	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh,
		const std::string &	wheel0_name,
		const std::string &	wheel1_name,
		const std::string &	wheel2_name,
		const std::string &	wheel3_name
	)