#include <ackermann_steering_controller.h>

Inheritance diagram for ackermann_steering_controller::AckermannSteeringController:

Classes
struct	Commands
	Velocity command related: More...

Public Member Functions
	AckermannSteeringController ()

bool	init (hardware_interface::RobotHW *robot_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::PositionJointInterface, hardware_interface::VelocityJointInterface >
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 ()
	Brakes the wheels, i.e. sets the velocity to 0. More...

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

bool	setOdomParamsFromUrdf (ros::NodeHandle &root_nh, const std::string rear_wheel_name, const std::string front_steer_name, bool lookup_wheel_separation_h, bool lookup_wheel_radius)
	Sets odometry parameters from the URDF, i.e. the wheel radius and separation. More...

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

Private Attributes
bool	allow_multiple_cmd_vel_publishers_
	Whether to allow multiple publishers on cmd_vel topic or not: More...

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...

hardware_interface::JointHandle	front_steer_joint_

Commands	last0_cmd_

Commands	last1_cmd_
	Speed limiters: More...

ros::Time	last_state_publish_time_

diff_drive_controller::SpeedLimiter	limiter_ang_

diff_drive_controller::SpeedLimiter	limiter_lin_

std::string	name_

std::string	odom_frame_id_
	Frame to use for odometry and odom tf: More...

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...

hardware_interface::JointHandle	rear_wheel_joint_
	Hardware handles: More...

size_t	steer_joints_size_
	Number of steer joints: More...

double	steer_pos_multiplier_

ros::Subscriber	sub_command_

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

size_t	wheel_joints_size_
	Number of wheel joints: More...

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

double	wheel_radius_multiplier_

double	wheel_separation_h_
	Wheel separation, wrt the midpoint of the wheel width: More...

double	wheel_separation_h_multiplier_
	Wheel separation and radius calibration multipliers: More...

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::PositionJointInterface, hardware_interface::VelocityJointInterface >
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::PositionJointInterface, hardware_interface::VelocityJointInterface >
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::PositionJointInterface, hardware_interface::VelocityJointInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

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 ackermann_steering_controller.h.

Constructor & Destructor Documentation

ackermann_steering_controller::AckermannSteeringController::AckermannSteeringController ( )

Definition at line 111 of file ackermann_steering_controller.cpp.

Member Function Documentation

void ackermann_steering_controller::AckermannSteeringController::brake ( )

private

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

Definition at line 357 of file ackermann_steering_controller.cpp.

void ackermann_steering_controller::AckermannSteeringController::cmdVelCallback ( const geometry_msgs::Twist & command )

private

Velocity command callback.

Parameters

command Velocity command message (twist)

Definition at line 366 of file ackermann_steering_controller.cpp.

bool ackermann_steering_controller::AckermannSteeringController::init	(	hardware_interface::RobotHW *	robot_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

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

Definition at line 128 of file ackermann_steering_controller.cpp.

bool ackermann_steering_controller::AckermannSteeringController::setOdomParamsFromUrdf	(	ros::NodeHandle &	root_nh,
		const std::string	rear_wheel_name,
		const std::string	front_steer_name,
		bool	lookup_wheel_separation_h,
		bool	lookup_wheel_radius
	)

private

Sets odometry parameters from the URDF, i.e. the wheel radius and separation.

Parameters

root_nh	Root node handle
left_wheel_name	Name of the left wheel joint
right_wheel_name	Name of the right wheel joint

Definition at line 396 of file ackermann_steering_controller.cpp.

void ackermann_steering_controller::AckermannSteeringController::setOdomPubFields	(	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

Definition at line 471 of file ackermann_steering_controller.cpp.

void ackermann_steering_controller::AckermannSteeringController::starting ( const ros::Time & time )

virtual

Starts controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 342 of file ackermann_steering_controller.cpp.

void ackermann_steering_controller::AckermannSteeringController::stopping ( const ros::Time & )

virtual

Stops controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 352 of file ackermann_steering_controller.cpp.

void ackermann_steering_controller::AckermannSteeringController::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 262 of file ackermann_steering_controller.cpp.

Member Data Documentation

bool ackermann_steering_controller::AckermannSteeringController::allow_multiple_cmd_vel_publishers_

private

Whether to allow multiple publishers on cmd_vel topic or not:

Definition at line 147 of file ackermann_steering_controller.h.

std::string ackermann_steering_controller::AckermannSteeringController::base_frame_id_

private

Frame to use for the robot base:

Definition at line 150 of file ackermann_steering_controller.h.

double ackermann_steering_controller::AckermannSteeringController::cmd_vel_timeout_

private

Timeout to consider cmd_vel commands old:

Definition at line 144 of file ackermann_steering_controller.h.

realtime_tools::RealtimeBuffer<Commands> ackermann_steering_controller::AckermannSteeringController::command_

private

Definition at line 123 of file ackermann_steering_controller.h.

Commands ackermann_steering_controller::AckermannSteeringController::command_struct_

private

Definition at line 124 of file ackermann_steering_controller.h.

bool ackermann_steering_controller::AckermannSteeringController::enable_odom_tf_

private

Whether to publish odometry to tf or not:

Definition at line 156 of file ackermann_steering_controller.h.

hardware_interface::JointHandle ackermann_steering_controller::AckermannSteeringController::front_steer_joint_

private

Definition at line 112 of file ackermann_steering_controller.h.

Commands ackermann_steering_controller::AckermannSteeringController::last0_cmd_

private

Definition at line 166 of file ackermann_steering_controller.h.

Commands ackermann_steering_controller::AckermannSteeringController::last1_cmd_

private

Speed limiters:

Definition at line 165 of file ackermann_steering_controller.h.

ros::Time ackermann_steering_controller::AckermannSteeringController::last_state_publish_time_

private

Definition at line 107 of file ackermann_steering_controller.h.

diff_drive_controller::SpeedLimiter ackermann_steering_controller::AckermannSteeringController::limiter_ang_

private

Definition at line 168 of file ackermann_steering_controller.h.

diff_drive_controller::SpeedLimiter ackermann_steering_controller::AckermannSteeringController::limiter_lin_

private

Definition at line 167 of file ackermann_steering_controller.h.

std::string ackermann_steering_controller::AckermannSteeringController::name_

private

Definition at line 103 of file ackermann_steering_controller.h.

std::string ackermann_steering_controller::AckermannSteeringController::odom_frame_id_

private

Frame to use for odometry and odom tf:

Definition at line 153 of file ackermann_steering_controller.h.

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

private

Odometry related:

Definition at line 128 of file ackermann_steering_controller.h.

Odometry ackermann_steering_controller::AckermannSteeringController::odometry_

private

Definition at line 130 of file ackermann_steering_controller.h.

bool ackermann_steering_controller::AckermannSteeringController::open_loop_

private

Definition at line 108 of file ackermann_steering_controller.h.

ros::Duration ackermann_steering_controller::AckermannSteeringController::publish_period_

private

Odometry related:

Definition at line 106 of file ackermann_steering_controller.h.

hardware_interface::JointHandle ackermann_steering_controller::AckermannSteeringController::rear_wheel_joint_

private

Hardware handles:

Definition at line 111 of file ackermann_steering_controller.h.

size_t ackermann_steering_controller::AckermannSteeringController::steer_joints_size_

private

Number of steer joints:

Definition at line 162 of file ackermann_steering_controller.h.

double ackermann_steering_controller::AckermannSteeringController::steer_pos_multiplier_

private

Definition at line 141 of file ackermann_steering_controller.h.

ros::Subscriber ackermann_steering_controller::AckermannSteeringController::sub_command_

private

Definition at line 125 of file ackermann_steering_controller.h.

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

private

Definition at line 129 of file ackermann_steering_controller.h.

size_t ackermann_steering_controller::AckermannSteeringController::wheel_joints_size_

private

Number of wheel joints:

Definition at line 159 of file ackermann_steering_controller.h.

double ackermann_steering_controller::AckermannSteeringController::wheel_radius_

private

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

Definition at line 136 of file ackermann_steering_controller.h.

double ackermann_steering_controller::AckermannSteeringController::wheel_radius_multiplier_

private

Definition at line 140 of file ackermann_steering_controller.h.

double ackermann_steering_controller::AckermannSteeringController::wheel_separation_h_

private

Wheel separation, wrt the midpoint of the wheel width:

Definition at line 133 of file ackermann_steering_controller.h.

double ackermann_steering_controller::AckermannSteeringController::wheel_separation_h_multiplier_

private

Wheel separation and radius calibration multipliers:

Definition at line 139 of file ackermann_steering_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