TwistControllerNode.h

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#ifndef TWISTCONTROLLERNODE_H_
#define TWISTCONTROLLERNODE_H_

// ROS and messages
#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <sensor_msgs/Imu.h>
#include <dbw_mkz_msgs/ThrottleCmd.h>
#include <dbw_mkz_msgs/ThrottleReport.h>
#include <dbw_mkz_msgs/BrakeCmd.h>
#include <dbw_mkz_msgs/BrakeReport.h>
#include <dbw_mkz_msgs/SteeringCmd.h>
#include <dbw_mkz_msgs/SteeringReport.h>
#include <dbw_mkz_msgs/FuelLevelReport.h>
#include <dbw_mkz_msgs/TwistCmd.h>
#include <geometry_msgs/TwistStamped.h>

// Debug message
#include <std_msgs/Float64.h>

// Dynamic Reconfigure
#include <dynamic_reconfigure/server.h>
#include <dbw_mkz_twist_controller/ControllerConfig.h>

// Controllers
#include "YawControl.h"
#include "PidControl.h"
#include "LowPass.h"

namespace dbw_mkz_twist_controller {

static const double GAS_DENSITY = 2.858; // kg/gal

class TwistControllerNode{
public:
  TwistControllerNode(ros::NodeHandle &n, ros::NodeHandle &pn);
private:
  void reconfig(ControllerConfig& config, uint32_t level);
  void controlCallback(const ros::TimerEvent& event);
  void recvTwist(const geometry_msgs::Twist::ConstPtr& msg);
  void recvTwist2(const dbw_mkz_msgs::TwistCmd::ConstPtr& msg);
  void recvTwist3(const geometry_msgs::TwistStamped::ConstPtr& msg);
  void recvSteeringReport(const dbw_mkz_msgs::SteeringReport::ConstPtr& msg);
  void recvImu(const sensor_msgs::Imu::ConstPtr& msg);
  void recvEnable(const std_msgs::Bool::ConstPtr& msg);
  void recvFuel(const dbw_mkz_msgs::FuelLevelReport::ConstPtr& msg);

  ros::Publisher pub_throttle_;
  ros::Publisher pub_brake_;
  ros::Publisher pub_steering_;
  ros::Publisher pub_accel_;
  ros::Publisher pub_req_accel_;
  ros::Subscriber sub_steering_;
  ros::Subscriber sub_imu_;
  ros::Subscriber sub_enable_;
  ros::Subscriber sub_twist_;
  ros::Subscriber sub_twist2_;
  ros::Subscriber sub_twist3_;
  ros::Subscriber sub_fuel_level_;
  ros::Timer control_timer_;

  dbw_mkz_msgs::TwistCmd cmd_vel_;
  geometry_msgs::Twist actual_;
  ros::Time cmd_stamp_;
  dynamic_reconfigure::Server<ControllerConfig> srv_;

  PidControl speed_pid_;
  PidControl accel_pid_;
  YawControl yaw_control_;
  LowPass lpf_accel_;
  LowPass lpf_fuel_;
  ControllerConfig cfg_;
  bool sys_enable_;

  // Parameters
  double control_period_;
  double acker_wheelbase_;
  double acker_track_;
  double steering_ratio_;

  static double mphToMps(double mph) { return mph * 0.44704; }
};

}

#endif /* TWISTCONTROLLERNODE_H_ */