sentry.h

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//
// Created by flying on 2021/1/18.
//
 
#pragma once
 
#include "rm_chassis_controllers/chassis_base.h"
#include <effort_controllers/joint_position_controller.h>
 
namespace rm_chassis_controllers
{
class SentryController : public ChassisBase<rm_control::RobotStateInterface, hardware_interface::EffortJointInterface>
{
public:
  SentryController() = default;
  bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh) override;
 
private:
  void moveJoint(const ros::Time& time, const ros::Duration& period) override;
  void catapult(const ros::Time& time, const ros::Duration& period);
  void normal(const ros::Time& time, const ros::Duration& period);
  geometry_msgs::Twist odometry() override;
 
  effort_controllers::JointVelocityController ctrl_wheel_;
  effort_controllers::JointPositionController ctrl_catapult_joint_;
 
  bool if_catapult_;
  double catapult_initial_velocity_;
  double catapult_angle_;
  double vel_coff_;
  double last_vel_cmd_{ 0. };
  ros::Time lock_time_;
  double lock_duratoin_;
};
 
}  // namespace rm_chassis_controllers