#include <double_diff_drive_controller.h>

Inheritance diagram for double_diff_drive_controller::DoubleDiffDriveController:

Classes
struct	Commands
	Velocity command related: More...

Public Member Functions
	DoubleDiffDriveController ()

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

virtual bool	init (T *, ros::NodeHandle &, ros::NodeHandle &)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

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 void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

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...

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 &drive_motor_name, const std::string &steer_motor_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_

double	drive_motor_gear_ratio_

hardware_interface::JointHandle	drive_motor_input_
	Hardware handles: More...

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

Commands	last_cmd_

ros::Time	last_state_publish_time_

double	left_wheel_radius_multiplier_

SpeedLimiter	limiter_ang_

SpeedLimiter	limiter_lin_

std::string	name_

geometry_msgs::TransformStamped	odom_frame_

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...

double	right_wheel_radius_multiplier_

double	steer_motor_gear_ratio_

hardware_interface::JointHandle	steer_motor_input_

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

double	wheel_separation_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
	ABORTED

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

	STOPPED

	WAITING

Protected Member Functions inherited from controller_interface::Controller< hardware_interface::VelocityJointInterface >
std::string	getHardwareInterfaceType () const

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

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 double_diff_drive_controller.h.

Constructor & Destructor Documentation

◆ DoubleDiffDriveController()

double_diff_drive_controller::DoubleDiffDriveController::DoubleDiffDriveController ( )

Definition at line 52 of file double_diff_drive_controller.cpp.

Member Function Documentation

◆ brake()

void double_diff_drive_controller::DoubleDiffDriveController::brake ( )

private

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

Definition at line 235 of file double_diff_drive_controller.cpp.

◆ cmdVelCallback()

void double_diff_drive_controller::DoubleDiffDriveController::cmdVelCallback ( const geometry_msgs::Twist & command )

private

Velocity command callback.

Parameters

command Velocity command message (twist)

Definition at line 242 of file double_diff_drive_controller.cpp.

◆ init()

bool double_diff_drive_controller::DoubleDiffDriveController::init	(	hardware_interface::VelocityJointInterface *	hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

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

Definition at line 67 of file double_diff_drive_controller.cpp.

◆ setupRtPublishersMsg()

void double_diff_drive_controller::DoubleDiffDriveController::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

Definition at line 309 of file double_diff_drive_controller.cpp.

◆ setWheelParamsFromUrdf()

bool double_diff_drive_controller::DoubleDiffDriveController::setWheelParamsFromUrdf	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh,
		const std::string &	drive_motor_name,
		const std::string &	steer_motor_name
	)

private

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

Parameters

root_nh	Root node handle
wheel0_name	Name of wheel0 joint
wheel1_name	Name of wheel1 joint

Definition at line 263 of file double_diff_drive_controller.cpp.

◆ starting()

void double_diff_drive_controller::DoubleDiffDriveController::starting ( const ros::Time & time )

virtual

Starts controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 218 of file double_diff_drive_controller.cpp.

◆ stopping()

void double_diff_drive_controller::DoubleDiffDriveController::stopping ( const ros::Time & time )

virtual

Stops controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 229 of file double_diff_drive_controller.cpp.

◆ update()

void double_diff_drive_controller::DoubleDiffDriveController::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 138 of file double_diff_drive_controller.cpp.

Member Data Documentation

◆ base_frame_id_

std::string double_diff_drive_controller::DoubleDiffDriveController::base_frame_id_

private

Frame to use for the robot base:

Definition at line 147 of file double_diff_drive_controller.h.

◆ cmd_vel_timeout_

double double_diff_drive_controller::DoubleDiffDriveController::cmd_vel_timeout_

private

Timeout to consider cmd_vel commands old:

Definition at line 144 of file double_diff_drive_controller.h.

◆ command_

realtime_tools::RealtimeBuffer<Commands> double_diff_drive_controller::DoubleDiffDriveController::command_

private

Definition at line 121 of file double_diff_drive_controller.h.

◆ command_struct_

Commands double_diff_drive_controller::DoubleDiffDriveController::command_struct_

private

Definition at line 122 of file double_diff_drive_controller.h.

◆ drive_motor_gear_ratio_

double double_diff_drive_controller::DoubleDiffDriveController::drive_motor_gear_ratio_

private

Definition at line 134 of file double_diff_drive_controller.h.

◆ drive_motor_input_

hardware_interface::JointHandle double_diff_drive_controller::DoubleDiffDriveController::drive_motor_input_

private

Hardware handles:

Definition at line 107 of file double_diff_drive_controller.h.

◆ enable_odom_tf_

bool double_diff_drive_controller::DoubleDiffDriveController::enable_odom_tf_

private

Whether to publish odometry to tf or not:

Definition at line 150 of file double_diff_drive_controller.h.

◆ last_cmd_

Commands double_diff_drive_controller::DoubleDiffDriveController::last_cmd_

private

Definition at line 156 of file double_diff_drive_controller.h.

◆ last_state_publish_time_

ros::Time double_diff_drive_controller::DoubleDiffDriveController::last_state_publish_time_

private

Definition at line 103 of file double_diff_drive_controller.h.

◆ left_wheel_radius_multiplier_

double double_diff_drive_controller::DoubleDiffDriveController::left_wheel_radius_multiplier_

private

Definition at line 140 of file double_diff_drive_controller.h.

◆ limiter_ang_

SpeedLimiter double_diff_drive_controller::DoubleDiffDriveController::limiter_ang_

private

Definition at line 158 of file double_diff_drive_controller.h.

◆ limiter_lin_

SpeedLimiter double_diff_drive_controller::DoubleDiffDriveController::limiter_lin_

private

Definition at line 157 of file double_diff_drive_controller.h.

◆ name_

std::string double_diff_drive_controller::DoubleDiffDriveController::name_

private

Definition at line 99 of file double_diff_drive_controller.h.

◆ odom_frame_

geometry_msgs::TransformStamped double_diff_drive_controller::DoubleDiffDriveController::odom_frame_

private

Definition at line 129 of file double_diff_drive_controller.h.

◆ odom_pub_

boost::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > double_diff_drive_controller::DoubleDiffDriveController::odom_pub_

private

Odometry related:

Definition at line 126 of file double_diff_drive_controller.h.

◆ odometry_

Odometry double_diff_drive_controller::DoubleDiffDriveController::odometry_

private

Definition at line 128 of file double_diff_drive_controller.h.

◆ open_loop_

bool double_diff_drive_controller::DoubleDiffDriveController::open_loop_

private

Definition at line 104 of file double_diff_drive_controller.h.

◆ publish_period_

ros::Duration double_diff_drive_controller::DoubleDiffDriveController::publish_period_

private

Odometry related:

Definition at line 102 of file double_diff_drive_controller.h.

◆ right_wheel_radius_multiplier_

double double_diff_drive_controller::DoubleDiffDriveController::right_wheel_radius_multiplier_

private

Definition at line 141 of file double_diff_drive_controller.h.

◆ steer_motor_gear_ratio_

double double_diff_drive_controller::DoubleDiffDriveController::steer_motor_gear_ratio_

private

Definition at line 134 of file double_diff_drive_controller.h.

◆ steer_motor_input_

hardware_interface::JointHandle double_diff_drive_controller::DoubleDiffDriveController::steer_motor_input_

private

Definition at line 108 of file double_diff_drive_controller.h.

◆ sub_command_

ros::Subscriber double_diff_drive_controller::DoubleDiffDriveController::sub_command_

private

Definition at line 123 of file double_diff_drive_controller.h.

◆ tf_odom_pub_

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

private

Definition at line 127 of file double_diff_drive_controller.h.

◆ wheel_joints_size_

size_t double_diff_drive_controller::DoubleDiffDriveController::wheel_joints_size_

private

Number of wheel joints:

Definition at line 153 of file double_diff_drive_controller.h.

◆ wheel_radius_

double double_diff_drive_controller::DoubleDiffDriveController::wheel_radius_

private

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

Definition at line 136 of file double_diff_drive_controller.h.

◆ wheel_separation_

double double_diff_drive_controller::DoubleDiffDriveController::wheel_separation_

private

Wheel separation, wrt the midpoint of the wheel width:

Definition at line 132 of file double_diff_drive_controller.h.

◆ wheel_separation_multiplier_

double double_diff_drive_controller::DoubleDiffDriveController::wheel_separation_multiplier_

private

Wheel separation and radius calibration multipliers:

Definition at line 139 of file double_diff_drive_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

◆ DoubleDiffDriveController()

Member Function Documentation

◆ brake()

◆ cmdVelCallback()

◆ init()

◆ setupRtPublishersMsg()

◆ setWheelParamsFromUrdf()

◆ starting()

◆ stopping()

◆ update()

Member Data Documentation

◆ base_frame_id_

◆ cmd_vel_timeout_

◆ command_

◆ command_struct_

◆ drive_motor_gear_ratio_

◆ drive_motor_input_

◆ enable_odom_tf_

◆ last_cmd_

◆ last_state_publish_time_

◆ left_wheel_radius_multiplier_

◆ limiter_ang_

◆ limiter_lin_

◆ name_

◆ odom_frame_

◆ odom_pub_

◆ odometry_

◆ open_loop_

◆ publish_period_

◆ right_wheel_radius_multiplier_

◆ steer_motor_gear_ratio_

◆ steer_motor_input_

◆ sub_command_

◆ tf_odom_pub_

◆ wheel_joints_size_

◆ wheel_radius_

◆ wheel_separation_

◆ wheel_separation_multiplier_