#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 bool	init (ros::NodeHandle &, ros::NodeHandle &)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	read (const ros::Time &, const ros::Duration &)

virtual void	read (const ros::Time &, const ros::Duration &)

virtual SwitchState	switchResult (const ControllerInfo &) const

virtual SwitchState	switchResult () const

virtual void	write (const ros::Time &, const ros::Duration &)

virtual void	write (const ros::Time &, const ros::Duration &)

virtual	~RobotHW ()=default

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 ()

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState

Public Attributes inherited from hardware_interface::RobotHW
	DONE

	ERROR

	ONGOING

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
std::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

◆ HuskyHardware()

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

◆ angularToLinear()

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.

◆ initializeDiagnostics()

void husky_base::HuskyHardware::initializeDiagnostics ( )

private

Register diagnostic tasks with updater class

Definition at line 93 of file husky_hardware.cpp.

◆ limitDifferentialSpeed()

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.

◆ linearToAngular()

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.

◆ registerControlInterfaces()

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.

◆ reportLoopDuration()

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.

◆ resetTravelOffset()

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.

◆ updateDiagnostics()

void husky_base::HuskyHardware::updateDiagnostics ( )

External hook to trigger diagnostic update

Definition at line 134 of file husky_hardware.cpp.

◆ updateJointsFromHardware()

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.

◆ writeCommandsToHardware()

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

◆ diagnostic_publisher_

ros::Publisher husky_base::HuskyHardware::diagnostic_publisher_

private

Definition at line 86 of file husky_hardware.h.

◆ diagnostic_updater_

diagnostic_updater::Updater husky_base::HuskyHardware::diagnostic_updater_

private

Definition at line 88 of file husky_hardware.h.

◆ husky_status_msg_

husky_msgs::HuskyStatus husky_base::HuskyHardware::husky_status_msg_

private

Definition at line 87 of file husky_hardware.h.

◆ joint_state_interface_

hardware_interface::JointStateInterface husky_base::HuskyHardware::joint_state_interface_

private

Definition at line 82 of file husky_hardware.h.

◆ joints_

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

private

◆ max_accel_

double husky_base::HuskyHardware::max_accel_

private

Definition at line 95 of file husky_hardware.h.

◆ max_speed_

double husky_base::HuskyHardware::max_speed_

private

Definition at line 95 of file husky_hardware.h.

◆ nh_

ros::NodeHandle husky_base::HuskyHardware::nh_

private

Definition at line 79 of file husky_hardware.h.

◆ polling_timeout_

double husky_base::HuskyHardware::polling_timeout_

private

Definition at line 97 of file husky_hardware.h.

◆ power_status_task_

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

private

Definition at line 90 of file husky_hardware.h.

◆ private_nh_

ros::NodeHandle husky_base::HuskyHardware::private_nh_

private

Definition at line 79 of file husky_hardware.h.

◆ safety_status_task_

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

private

Definition at line 91 of file husky_hardware.h.

◆ software_status_task_

HuskySoftwareDiagnosticTask husky_base::HuskyHardware::software_status_task_

private

Definition at line 92 of file husky_hardware.h.

◆ system_status_task_

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

private

Definition at line 89 of file husky_hardware.h.

◆ velocity_joint_interface_

hardware_interface::VelocityJointInterface husky_base::HuskyHardware::velocity_joint_interface_

private

Definition at line 83 of file husky_hardware.h.

◆ wheel_diameter_

double husky_base::HuskyHardware::wheel_diameter_

private

Definition at line 95 of file husky_hardware.h.

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

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_

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HuskyHardware()

Member Function Documentation

◆ angularToLinear()

◆ initializeDiagnostics()

◆ limitDifferentialSpeed()

◆ linearToAngular()

◆ registerControlInterfaces()

◆ reportLoopDuration()

◆ resetTravelOffset()

◆ updateDiagnostics()

◆ updateJointsFromHardware()

◆ writeCommandsToHardware()

Member Data Documentation

◆ diagnostic_publisher_

◆ diagnostic_updater_

◆ husky_status_msg_

◆ joint_state_interface_

◆ joints_

◆ max_accel_

◆ max_speed_

◆ nh_

◆ polling_timeout_

◆ power_status_task_

◆ private_nh_

◆ safety_status_task_

◆ software_status_task_

◆ system_status_task_

◆ velocity_joint_interface_

◆ wheel_diameter_