ackermann_to_vesc.h

Go to the documentation of this file.

// Copyright 2020 F1TENTH Foundation
//
// Redistribution and use in source and binary forms, with or without modification, are permitted
// provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice, this list of conditions
//    and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice, this list
//    of conditions and the following disclaimer in the documentation and/or other materials
//    provided with the distribution.
//
// 3. Neither the name of the copyright holder nor the names of its contributors may be used
//    to endorse or promote products derived from this software without specific prior
//    written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
// FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
// WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

// -*- mode:c++; fill-column: 100; -*-

#ifndef VESC_ACKERMANN_ACKERMANN_TO_VESC_H_
#define VESC_ACKERMANN_ACKERMANN_TO_VESC_H_

#include <ros/ros.h>
#include <ackermann_msgs/AckermannDriveStamped.h>

namespace vesc_ackermann
{

class AckermannToVesc
{
public:
  AckermannToVesc(ros::NodeHandle nh, ros::NodeHandle private_nh);

private:
  // ROS parameters
  // conversion gain and offset
  bool previous_mode_speed_ = true;
  double speed_to_erpm_gain_, speed_to_erpm_offset_;
  double accel_to_current_gain_, accel_to_brake_gain_;
  double steering_to_servo_gain_, steering_to_servo_offset_;

  // ROS services
  ros::Publisher erpm_pub_;
  ros::Publisher servo_pub_;
  ros::Publisher current_pub_;
  ros::Publisher brake_pub_;
  ros::Subscriber ackermann_sub_;

  // ROS callbacks
  void ackermannCmdCallback(const ackermann_msgs::AckermannDriveStamped::ConstPtr& cmd);
};

}  // namespace vesc_ackermann

#endif  // VESC_ACKERMANN_ACKERMANN_TO_VESC_H_