#include <chassis_base.h>

Inheritance diagram for rm_chassis_controllers::ChassisBase< T >:

Public Member Functions
	ChassisBase ()=default

bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
	Get and check params for covariances. Setup odometry realtime publisher + odom message constant fields. init odom tf. More...

void	update (const ros::Time &time, const ros::Duration &period) override
	Receive real_time command from manual. Execute different action according to current mode. Set necessary params of chassis. Execute power limit. More...

Public Member Functions inherited from controller_interface::MultiInterfaceController< T... >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

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

virtual void	starting (const ros::Time &)

virtual void	starting (const ros::Time &)

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::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

Protected Types
enum	{ RAW, FOLLOW, TWIST }

Protected Member Functions
void	cmdChassisCallback (const rm_msgs::ChassisCmdConstPtr &msg)
	Write current command from rm_msgs::ChassisCmd. More...

void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &msg)
	Write current command from geometry_msgs::Twist. More...

void	follow (const ros::Time &time, const ros::Duration &period)
	The mode FOLLOW: chassis will follow gimbal. More...

virtual void	moveJoint (const ros::Time &time, const ros::Duration &period)=0

virtual geometry_msgs::Twist	odometry ()=0

void	outsideOdomCallback (const nav_msgs::Odometry::ConstPtr &msg)

void	powerLimit ()
	To limit the chassis power according to current power limit. More...

void	raw ()

void	recovery ()
	Set chassis velocity to zero. More...

void	tfVelToBase (const std::string &from)
	Transform tf velocity to base link frame. More...

void	twist (const ros::Time &time, const ros::Duration &period)
	The mode TWIST: Just moving chassis. More...

void	updateOdom (const ros::Time &time, const ros::Duration &period)
	Init frame on base_link. Integral vel to pos and angle. More...

Protected Member Functions inherited from controller_interface::MultiInterfaceController< T... >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Protected Attributes
ros::Subscriber	cmd_chassis_sub_

realtime_tools::RealtimeBuffer< Command >	cmd_rt_buffer_

Command	cmd_struct_

ros::Subscriber	cmd_vel_sub_

std::string	command_source_frame_ {}

double	effort_coeff_ {}

hardware_interface::EffortJointInterface *	effort_joint_interface_ {}

bool	enable_odom_tf_ = false

std::string	follow_source_frame_ {}

std::vector< hardware_interface::JointHandle >	joint_handles_ {}

ros::Time	last_publish_time_

double	max_odom_vel_

geometry_msgs::TransformStamped	odom2base_ {}

realtime_tools::RealtimeBuffer< nav_msgs::Odometry >	odom_buffer_

std::shared_ptr< realtime_tools::RealtimePublisher< nav_msgs::Odometry > >	odom_pub_

ros::Subscriber	outside_odom_sub_

control_toolbox::Pid	pid_follow_

double	power_offset_ {}

bool	publish_odom_tf_ = false

double	publish_rate_ {}

RampFilter< double > *	ramp_w_ {}

RampFilter< double > *	ramp_x_ {}

RampFilter< double > *	ramp_y_ {}

rm_control::RobotStateHandle	robot_state_handle_ {}

int	state_ = RAW

bool	state_changed_ = true

rm_common::TfRtBroadcaster	tf_broadcaster_ {}

double	timeout_ {}

bool	topic_update_ = false

double	twist_angular_ {}

geometry_msgs::Vector3	vel_cmd_ {}

double	velocity_coeff_ {}

double	wheel_radius_ {}

tf2::Transform	world2odom_

Protected Attributes inherited from controller_interface::MultiInterfaceController< T... >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

enum	ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED }

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< T... >
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)

Detailed Description

template<typename... T>
class rm_chassis_controllers::ChassisBase< T >

Definition at line 92 of file chassis_base.h.

Member Enumeration Documentation

◆ anonymous enum

template<typename... T>

anonymous enum

protected

Enumerator
RAW
FOLLOW
TWIST

Definition at line 187 of file chassis_base.h.

Constructor & Destructor Documentation

◆ ChassisBase()

template<typename... T>

rm_chassis_controllers::ChassisBase< T >::ChassisBase ( )

default

Member Function Documentation

◆ cmdChassisCallback()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::cmdChassisCallback ( const rm_msgs::ChassisCmdConstPtr & msg )

protected

Write current command from rm_msgs::ChassisCmd.

Parameters

msg	This message contains various state parameter settings for basic chassis control

Definition at line 451 of file chassis_base.cpp.

◆ cmdVelCallback()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::cmdVelCallback ( const geometry_msgs::Twist::ConstPtr & msg )

protected

Write current command from geometry_msgs::Twist.

Parameters

msg	This expresses velocity in free space broken into its linear and angular parts.

Definition at line 458 of file chassis_base.cpp.

◆ follow()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::follow	(	const ros::Time &	time,
		const ros::Duration &	period
	)

protected

The mode FOLLOW: chassis will follow gimbal.

The mode FOLLOW: The chassis's direct will follow gimbal's direct all the time.

Parameters

time	The current time.
period	The time passed since the last call to update.

Definition at line 213 of file chassis_base.cpp.

◆ init()

template<typename... T>

bool rm_chassis_controllers::ChassisBase< T >::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

overridevirtual

Get and check params for covariances. Setup odometry realtime publisher + odom message constant fields. init odom tf.

Parameters

robot_hw	The robot hardware abstraction.
root_nh	A NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services).
controller_nh	A NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides.

Returns: True if initialization was successful and the controller is ready to be started.

Reimplemented from controller_interface::MultiInterfaceController< T... >.

Definition at line 83 of file chassis_base.cpp.

◆ moveJoint()

template<typename... T>

virtual void rm_chassis_controllers::ChassisBase< T >::moveJoint	(	const ros::Time &	time,
		const ros::Duration &	period
	)

protectedpure virtual

Implemented in rm_chassis_controllers::SentryController, rm_chassis_controllers::SwerveController, rm_chassis_controllers::BalanceController, and rm_chassis_controllers::OmniController.

◆ odometry()

template<typename... T>

virtual geometry_msgs::Twist rm_chassis_controllers::ChassisBase< T >::odometry ( )

protectedpure virtual

Implemented in rm_chassis_controllers::SentryController, rm_chassis_controllers::SwerveController, rm_chassis_controllers::BalanceController, and rm_chassis_controllers::OmniController.

◆ outsideOdomCallback()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::outsideOdomCallback ( const nav_msgs::Odometry::ConstPtr & msg )

protected

Definition at line 466 of file chassis_base.cpp.

◆ powerLimit()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::powerLimit

protected

To limit the chassis power according to current power limit.

Receive power limit from command. Set max_effort command to chassis to avoid exceed power limit.

Definition at line 410 of file chassis_base.cpp.

◆ raw()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::raw

protected

@briefThe The mode RAW: original state.

The mode raw: original state. Linear velocity will be set zero to stop move.

Definition at line 281 of file chassis_base.cpp.

◆ recovery()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::recovery

protected

Set chassis velocity to zero.

Definition at line 402 of file chassis_base.cpp.

◆ tfVelToBase()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::tfVelToBase ( const std::string & from )

protected

Transform tf velocity to base link frame.

Parameters

from	The father frame.

Definition at line 438 of file chassis_base.cpp.

◆ twist()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::twist	(	const ros::Time &	time,
		const ros::Duration &	period
	)

protected

The mode TWIST: Just moving chassis.

The mode TWIST: Chassis will move independent and will not effect by gimbal's move.

Parameters

time	The current time.
period	The time passed since the last call to update.

Definition at line 241 of file chassis_base.cpp.

◆ update()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Receive real_time command from manual. Execute different action according to current mode. Set necessary params of chassis. Execute power limit.

Receive real_time command from manual and check whether it is normally, if can not receive command from manual for a while, chassis's velocity will be set zero to avoid out of control. Execute different action according to current mode such as RAW, FOLLOW, TWIST.(Their specific usage will be explain in the next). UpdateOdom,Set necessary params such as Acc and vel_tfed. Execute moving action and powerlimit.

Parameters

time	The current time.
period	The time passed since the last call to update.

Implements controller_interface::ControllerBase.

Definition at line 152 of file chassis_base.cpp.

◆ updateOdom()

template<typename... T>

void rm_chassis_controllers::ChassisBase< T >::updateOdom	(	const ros::Time &	time,
		const ros::Duration &	period
	)

protected

Init frame on base_link. Integral vel to pos and angle.

Parameters

time	The current time.
period	The time passed since the last call to update.

Definition at line 294 of file chassis_base.cpp.

Member Data Documentation

◆ cmd_chassis_sub_

template<typename... T>

ros::Subscriber rm_chassis_controllers::ChassisBase< T >::cmd_chassis_sub_

protected

Definition at line 206 of file chassis_base.h.

◆ cmd_rt_buffer_

template<typename... T>

realtime_tools::RealtimeBuffer<Command> rm_chassis_controllers::ChassisBase< T >::cmd_rt_buffer_

protected

Definition at line 209 of file chassis_base.h.

◆ cmd_struct_

template<typename... T>

Command rm_chassis_controllers::ChassisBase< T >::cmd_struct_

protected

Definition at line 208 of file chassis_base.h.

◆ cmd_vel_sub_

template<typename... T>

ros::Subscriber rm_chassis_controllers::ChassisBase< T >::cmd_vel_sub_

protected

Definition at line 207 of file chassis_base.h.

◆ command_source_frame_

template<typename... T>

std::string rm_chassis_controllers::ChassisBase< T >::command_source_frame_ {}

protected

Definition at line 195 of file chassis_base.h.

◆ effort_coeff_

template<typename... T>

double rm_chassis_controllers::ChassisBase< T >::effort_coeff_ {}

protected

Definition at line 180 of file chassis_base.h.

◆ effort_joint_interface_

template<typename... T>

hardware_interface::EffortJointInterface* rm_chassis_controllers::ChassisBase< T >::effort_joint_interface_ {}

protected

Definition at line 177 of file chassis_base.h.

◆ enable_odom_tf_

template<typename... T>

bool rm_chassis_controllers::ChassisBase< T >::enable_odom_tf_ = false

protected

Definition at line 183 of file chassis_base.h.

◆ follow_source_frame_

template<typename... T>

std::string rm_chassis_controllers::ChassisBase< T >::follow_source_frame_ {}

protected

Definition at line 195 of file chassis_base.h.

◆ joint_handles_

template<typename... T>

std::vector<hardware_interface::JointHandle> rm_chassis_controllers::ChassisBase< T >::joint_handles_ {}

protected

Definition at line 178 of file chassis_base.h.

◆ last_publish_time_

template<typename... T>

ros::Time rm_chassis_controllers::ChassisBase< T >::last_publish_time_

protected

Definition at line 197 of file chassis_base.h.

◆ max_odom_vel_

template<typename... T>

double rm_chassis_controllers::ChassisBase< T >::max_odom_vel_

protected

Definition at line 182 of file chassis_base.h.

◆ odom2base_

template<typename... T>

geometry_msgs::TransformStamped rm_chassis_controllers::ChassisBase< T >::odom2base_ {}

protected

Definition at line 198 of file chassis_base.h.

◆ odom_buffer_

template<typename... T>

realtime_tools::RealtimeBuffer<nav_msgs::Odometry> rm_chassis_controllers::ChassisBase< T >::odom_buffer_

protected

Definition at line 210 of file chassis_base.h.

◆ odom_pub_

template<typename... T>

std::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > rm_chassis_controllers::ChassisBase< T >::odom_pub_

protected

Definition at line 203 of file chassis_base.h.

◆ outside_odom_sub_

template<typename... T>

ros::Subscriber rm_chassis_controllers::ChassisBase< T >::outside_odom_sub_

protected

Definition at line 205 of file chassis_base.h.

◆ pid_follow_

template<typename... T>

control_toolbox::Pid rm_chassis_controllers::ChassisBase< T >::pid_follow_

protected

Definition at line 201 of file chassis_base.h.

◆ power_offset_

template<typename... T>

double rm_chassis_controllers::ChassisBase< T >::power_offset_ {}

protected

Definition at line 181 of file chassis_base.h.

◆ publish_odom_tf_

template<typename... T>

bool rm_chassis_controllers::ChassisBase< T >::publish_odom_tf_ = false

protected

Definition at line 185 of file chassis_base.h.

◆ publish_rate_

template<typename... T>

double rm_chassis_controllers::ChassisBase< T >::publish_rate_ {}

protected

Definition at line 180 of file chassis_base.h.

◆ ramp_w_

template<typename... T>

RampFilter<double> * rm_chassis_controllers::ChassisBase< T >::ramp_w_ {}

protected

Definition at line 194 of file chassis_base.h.

◆ ramp_x_

template<typename... T>

RampFilter<double>* rm_chassis_controllers::ChassisBase< T >::ramp_x_ {}

protected

Definition at line 194 of file chassis_base.h.

◆ ramp_y_

template<typename... T>

RampFilter<double> * rm_chassis_controllers::ChassisBase< T >::ramp_y_ {}

protected

Definition at line 194 of file chassis_base.h.

◆ robot_state_handle_

template<typename... T>

rm_control::RobotStateHandle rm_chassis_controllers::ChassisBase< T >::robot_state_handle_ {}

protected

Definition at line 176 of file chassis_base.h.

◆ state_

template<typename... T>

int rm_chassis_controllers::ChassisBase< T >::state_ = RAW

protected

Definition at line 193 of file chassis_base.h.

◆ state_changed_

template<typename... T>

bool rm_chassis_controllers::ChassisBase< T >::state_changed_ = true

protected

Definition at line 186 of file chassis_base.h.

◆ tf_broadcaster_

template<typename... T>

rm_common::TfRtBroadcaster rm_chassis_controllers::ChassisBase< T >::tf_broadcaster_ {}

protected

Definition at line 204 of file chassis_base.h.

◆ timeout_

template<typename... T>

double rm_chassis_controllers::ChassisBase< T >::timeout_ {}

protected

Definition at line 180 of file chassis_base.h.

◆ topic_update_

template<typename... T>

bool rm_chassis_controllers::ChassisBase< T >::topic_update_ = false

protected

Definition at line 184 of file chassis_base.h.

◆ twist_angular_

template<typename... T>

double rm_chassis_controllers::ChassisBase< T >::twist_angular_ {}

protected

Definition at line 180 of file chassis_base.h.

◆ vel_cmd_

template<typename... T>

geometry_msgs::Vector3 rm_chassis_controllers::ChassisBase< T >::vel_cmd_ {}

protected

Definition at line 200 of file chassis_base.h.

◆ velocity_coeff_

template<typename... T>

double rm_chassis_controllers::ChassisBase< T >::velocity_coeff_ {}

protected

Definition at line 180 of file chassis_base.h.

◆ wheel_radius_

template<typename... T>

double rm_chassis_controllers::ChassisBase< T >::wheel_radius_ {}

protected

Definition at line 180 of file chassis_base.h.

◆ world2odom_

template<typename... T>

tf2::Transform rm_chassis_controllers::ChassisBase< T >::world2odom_

protected

Definition at line 199 of file chassis_base.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename... T> class rm_chassis_controllers::ChassisBase< T >

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ ChassisBase()

Member Function Documentation

◆ cmdChassisCallback()

◆ cmdVelCallback()

◆ follow()

◆ init()

◆ moveJoint()

◆ odometry()

◆ outsideOdomCallback()

◆ powerLimit()

◆ raw()

◆ recovery()

◆ tfVelToBase()

◆ twist()

◆ update()

◆ updateOdom()

Member Data Documentation

◆ cmd_chassis_sub_

◆ cmd_rt_buffer_

◆ cmd_struct_

◆ cmd_vel_sub_

◆ command_source_frame_

◆ effort_coeff_

◆ effort_joint_interface_

◆ enable_odom_tf_

◆ follow_source_frame_

◆ joint_handles_

◆ last_publish_time_

◆ max_odom_vel_

◆ odom2base_

◆ odom_buffer_

◆ odom_pub_

◆ outside_odom_sub_

◆ pid_follow_

◆ power_offset_

◆ publish_odom_tf_

◆ publish_rate_

◆ ramp_w_

◆ ramp_x_

◆ ramp_y_

◆ robot_state_handle_

◆ state_

◆ state_changed_

◆ tf_broadcaster_

◆ timeout_

◆ topic_update_

◆ twist_angular_

◆ vel_cmd_

◆ velocity_coeff_

◆ wheel_radius_

◆ world2odom_

template<typename... T>
class rm_chassis_controllers::ChassisBase< T >