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]

Public Member Functions
void	command (const geometry_msgs::TwistConstPtr &msg)
	Command callback from either a ROS topic, or a higher controller. More...

	DiffDriveBaseController ()

virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims. More...

virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands. More...

virtual std::string	getType ()
	Get the type of this controller. More...

virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures. More...

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. More...

virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance. More...

virtual bool	stop (bool force)
	Attempt to stop the controller. This should be called only by the ControllerManager instance. More...

virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller. More...

virtual	~DiffDriveBaseController ()

Public Member Functions inherited from robot_controllers::Controller
	Controller ()

std::string	getName ()

virtual	~Controller ()

Public Member Functions inherited from robot_controllers::Handle
	Handle ()

virtual	~Handle ()

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". More...

double	moving_threshold_
	Threshold for dr to be considered "moving". More...

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". More...

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 ( )

inlinevirtual

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 ( )

inlinevirtual

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.

Returns: True if successfully reset, false otherwise.

Implements robot_controllers::Controller.

Definition at line 210 of file diff_drive_base.cpp.

void robot_controllers::DiffDriveBaseController::scanCallback ( const sensor_msgs::LaserScanConstPtr & scan )

private

Definition at line 383 of file diff_drive_base.cpp.

void robot_controllers::DiffDriveBaseController::setCommand	(	float	left,
		float	right
	)

private

Definition at line 411 of file diff_drive_base.cpp.

bool robot_controllers::DiffDriveBaseController::start ( )

virtual

Attempt to start the controller. This should be called only by the ControllerManager instance.

Returns: True if successfully started, false otherwise.

Implements robot_controllers::Controller.

Definition at line 182 of file diff_drive_base.cpp.

bool robot_controllers::DiffDriveBaseController::stop ( bool force )

virtual

Attempt to stop the controller. This should be called only by the ControllerManager instance.

Parameters

force Should we force the controller to stop? Some controllers may wish to continue running until they absolutely have to stop.

Returns: True if successfully stopped, false otherwise.

Implements robot_controllers::Controller.

Definition at line 193 of file diff_drive_base.cpp.

void robot_controllers::DiffDriveBaseController::update	(	const ros::Time &	now,
		const ros::Duration &	dt
	)

virtual

This is the update loop for the controller.

Parameters

time	The system time.
dt	The timestep since last call to update.

Implements robot_controllers::Controller.

Definition at line 217 of file diff_drive_base.cpp.

Member Data Documentation

boost::shared_ptr<tf::TransformBroadcaster> robot_controllers::DiffDriveBaseController::broadcaster_

private

Definition at line 180 of file diff_drive_base.h.

ros::Subscriber robot_controllers::DiffDriveBaseController::cmd_sub_

private

Definition at line 178 of file diff_drive_base.h.

boost::mutex robot_controllers::DiffDriveBaseController::command_mutex_

private

Definition at line 157 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::desired_r_

private

Definition at line 159 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::desired_x_

private

Definition at line 158 of file diff_drive_base.h.

bool robot_controllers::DiffDriveBaseController::enabled_

private

Definition at line 183 of file diff_drive_base.h.

bool robot_controllers::DiffDriveBaseController::initialized_

private

Definition at line 125 of file diff_drive_base.h.

ros::Time robot_controllers::DiffDriveBaseController::last_command_

private

Definition at line 170 of file diff_drive_base.h.

ros::Time robot_controllers::DiffDriveBaseController::last_laser_scan_

private

Definition at line 154 of file diff_drive_base.h.

float robot_controllers::DiffDriveBaseController::last_sent_r_

private

Definition at line 163 of file diff_drive_base.h.

float robot_controllers::DiffDriveBaseController::last_sent_x_

private

Definition at line 162 of file diff_drive_base.h.

ros::Time robot_controllers::DiffDriveBaseController::last_update_

private

Definition at line 171 of file diff_drive_base.h.

JointHandlePtr robot_controllers::DiffDriveBaseController::left_

private

Definition at line 134 of file diff_drive_base.h.

float robot_controllers::DiffDriveBaseController::left_last_position_

private

Definition at line 165 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::left_last_timestamp_

private

Definition at line 167 of file diff_drive_base.h.

ControllerManager* robot_controllers::DiffDriveBaseController::manager_

private

Definition at line 126 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::max_acceleration_r_

private

Definition at line 148 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::max_acceleration_x_

private

Definition at line 147 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::max_velocity_r_

private

Definition at line 146 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::max_velocity_x_

private

Threshold for dx to be considered "moving".

Definition at line 145 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::moving_threshold_

private

Threshold for dr to be considered "moving".

Definition at line 143 of file diff_drive_base.h.

nav_msgs::Odometry robot_controllers::DiffDriveBaseController::odom_

private

Definition at line 175 of file diff_drive_base.h.

boost::mutex robot_controllers::DiffDriveBaseController::odom_mutex_

private

Definition at line 174 of file diff_drive_base.h.

ros::Publisher robot_controllers::DiffDriveBaseController::odom_pub_

private

Definition at line 176 of file diff_drive_base.h.

ros::Timer robot_controllers::DiffDriveBaseController::odom_timer_

private

Definition at line 177 of file diff_drive_base.h.

bool robot_controllers::DiffDriveBaseController::publish_tf_

private

Definition at line 181 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::radians_per_meter_

private

Definition at line 138 of file diff_drive_base.h.

bool robot_controllers::DiffDriveBaseController::ready_

private

Definition at line 184 of file diff_drive_base.h.

JointHandlePtr robot_controllers::DiffDriveBaseController::right_

private

Definition at line 135 of file diff_drive_base.h.

float robot_controllers::DiffDriveBaseController::right_last_position_

private

Definition at line 166 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::right_last_timestamp_

private

Definition at line 168 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::robot_width_

private

Definition at line 153 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::rotating_threshold_

private

Threshold for wheel velocity to be "moving".

Definition at line 142 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::safety_scaling_

private

Definition at line 151 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::safety_scaling_distance_

private

Definition at line 152 of file diff_drive_base.h.

ros::Subscriber robot_controllers::DiffDriveBaseController::scan_sub_

private

Definition at line 178 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::theta_

private

Definition at line 139 of file diff_drive_base.h.

ros::Duration robot_controllers::DiffDriveBaseController::timeout_

private

Definition at line 172 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::track_width_

private

Definition at line 137 of file diff_drive_base.h.

double robot_controllers::DiffDriveBaseController::wheel_rotating_threshold_

private

Definition at line 141 of file diff_drive_base.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation