#include <sentry.h>

Inheritance diagram for rm_chassis_controllers::SentryController:

[legend]

Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
	Execute ChassisBase::init. Init necessary handles. More...

	SentryController ()=default

Public Member Functions inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >
	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

Private Member Functions
void	catapult (const ros::Time &time, const ros::Duration &period)

void	moveJoint (const ros::Time &time, const ros::Duration &period) override
	Calculate correct command and set it to wheel. More...

void	normal (const ros::Time &time, const ros::Duration &period)

geometry_msgs::Twist	odometry () override
	Calculate current linear_x according to current velocity. More...

Private Attributes
double	catapult_angle_

double	catapult_initial_velocity_

effort_controllers::JointPositionController	ctrl_catapult_joint_

effort_controllers::JointVelocityController	ctrl_wheel_

bool	if_catapult_

double	last_vel_cmd_ { 0. }

double	lock_duratoin_

ros::Time	lock_time_

double	vel_coff_

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_

Protected Types inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >
enum

Protected Member Functions inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >
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...

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

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)

Protected Attributes inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >
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_

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_

double	publish_rate_

RampFilter< double > *	ramp_w_

RampFilter< double > *	ramp_x_

RampFilter< double > *	ramp_y_

rm_control::RobotStateHandle	robot_state_handle_

int	state_

bool	state_changed_

rm_common::TfRtBroadcaster	tf_broadcaster_

double	timeout_

bool	topic_update_

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_

Detailed Description

Definition at line 76 of file sentry.h.

Constructor & Destructor Documentation

◆ SentryController()

rm_chassis_controllers::SentryController::SentryController ( )

default

Member Function Documentation

◆ catapult()

void rm_chassis_controllers::SentryController::catapult	(	const ros::Time &	time,
		const ros::Duration &	period
	)

private

Definition at line 119 of file sentry.cpp.

◆ init()

bool rm_chassis_controllers::SentryController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

overridevirtual

Execute ChassisBase::init. Init necessary handles.

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 75 of file sentry.cpp.

◆ moveJoint()

void rm_chassis_controllers::SentryController::moveJoint	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overrideprivatevirtual

Calculate correct command and set it to wheel.

Parameters

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

Implements rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >.

Definition at line 95 of file sentry.cpp.

◆ normal()

void rm_chassis_controllers::SentryController::normal	(	const ros::Time &	time,
		const ros::Duration &	period
	)

private

Definition at line 146 of file sentry.cpp.

◆ odometry()

geometry_msgs::Twist rm_chassis_controllers::SentryController::odometry ( )

overrideprivatevirtual

Calculate current linear_x according to current velocity.

Returns: Calculated vel_data included linear_x.

Implements rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >.

Definition at line 139 of file sentry.cpp.

Member Data Documentation

◆ catapult_angle_

double rm_chassis_controllers::SentryController::catapult_angle_

private

Definition at line 143 of file sentry.h.

◆ catapult_initial_velocity_

double rm_chassis_controllers::SentryController::catapult_initial_velocity_

private

Definition at line 142 of file sentry.h.

◆ ctrl_catapult_joint_

effort_controllers::JointPositionController rm_chassis_controllers::SentryController::ctrl_catapult_joint_

private

Definition at line 139 of file sentry.h.

◆ ctrl_wheel_

effort_controllers::JointVelocityController rm_chassis_controllers::SentryController::ctrl_wheel_

private

Definition at line 138 of file sentry.h.

◆ if_catapult_

bool rm_chassis_controllers::SentryController::if_catapult_

private

Definition at line 141 of file sentry.h.

◆ last_vel_cmd_

double rm_chassis_controllers::SentryController::last_vel_cmd_ { 0. }

private

Definition at line 145 of file sentry.h.

◆ lock_duratoin_

double rm_chassis_controllers::SentryController::lock_duratoin_

private

Definition at line 147 of file sentry.h.

◆ lock_time_

ros::Time rm_chassis_controllers::SentryController::lock_time_

private

Definition at line 146 of file sentry.h.

◆ vel_coff_

double rm_chassis_controllers::SentryController::vel_coff_

private

Definition at line 144 of file sentry.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SentryController()

Member Function Documentation

◆ catapult()

◆ init()

◆ moveJoint()

◆ normal()

◆ odometry()

Member Data Documentation

◆ catapult_angle_

◆ catapult_initial_velocity_

◆ ctrl_catapult_joint_

◆ ctrl_wheel_

◆ if_catapult_

◆ last_vel_cmd_

◆ lock_duratoin_

◆ lock_time_

◆ vel_coff_