#include <mecanum_drive_controller.h>

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 >
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...

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
	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 mecanum_drive_controller.h.

Constructor & Destructor Documentation

◆ MecanumDriveController()

mecanum_drive_controller::MecanumDriveController::MecanumDriveController ( )

Definition at line 81 of file mecanum_drive_controller.cpp.

Member Function Documentation

◆ brake()

void mecanum_drive_controller::MecanumDriveController::brake ( )

private

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

Definition at line 296 of file mecanum_drive_controller.cpp.

◆ cmdVelCallback()

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

private

Velocity command callback.

Parameters

command Velocity command message (twist)

Definition at line 305 of file mecanum_drive_controller.cpp.

◆ getWheelRadius()

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

Definition at line 468 of file mecanum_drive_controller.cpp.

◆ init()

bool mecanum_drive_controller::MecanumDriveController::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 97 of file mecanum_drive_controller.cpp.

◆ setupRtPublishersMsg()

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

Definition at line 508 of file mecanum_drive_controller.cpp.

◆ setWheelParamsFromUrdf()

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
	)