#include <diff_drive_controller.h>

Inheritance diagram for diff_drive_controller::DiffDriveController:

Classes
struct	Commands
	Velocity command related: More...

struct	DynamicParams

Public Member Functions
	DiffDriveController ()

bool	init (hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	Initialize controller. More...

void	starting (const ros::Time &time)
	Starts controller. More...

void	stopping (const ros::Time &)
	Stops controller. More...

void	update (const ros::Time &time, const ros::Duration &period)
	Updates controller, i.e. computes the odometry and sets the new velocity commands. More...

Public Member Functions inherited from controller_interface::Controller< hardware_interface::VelocityJointInterface >
	Controller ()

virtual bool	init (hardware_interface::VelocityJointInterface *, ros::NodeHandle &)

virtual	~Controller ()

Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()

bool	isRunning ()

bool	isRunning ()

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &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	~ControllerBase ()

Private Types
typedef dynamic_reconfigure::Server< DiffDriveControllerConfig >	ReconfigureServer
	Dynamic Reconfigure server. More...

Private Member Functions
void	brake ()
	Brakes the wheels, i.e. sets the velocity to 0. More...

void	cmdVelCallback (const geometry_msgs::Twist &command)
	Velocity command callback. More...

bool	getWheelNames (ros::NodeHandle &controller_nh, const std::string &wheel_param, std::vector< std::string > &wheel_names)
	Get the wheel names from a wheel param. More...

void	reconfCallback (DiffDriveControllerConfig &config, uint32_t)
	Callback for dynamic_reconfigure server. More...

bool	setOdomParamsFromUrdf (ros::NodeHandle &root_nh, const std::string &left_wheel_name, const std::string &right_wheel_name, bool lookup_wheel_separation, bool lookup_wheel_radius)
	Sets odometry parameters from the URDF, i.e. the wheel radius and separation. More...

void	setOdomPubFields (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	Sets the odometry publishing fields. More...

void	updateDynamicParams ()
	Update the dynamic parameters in the RT loop. More...

Private Attributes
bool	allow_multiple_cmd_vel_publishers_
	Whether to allow multiple publishers on cmd_vel topic or not: More...

std::string	base_frame_id_
	Frame to use for the robot base: More...

boost::shared_ptr< realtime_tools::RealtimePublisher< geometry_msgs::TwistStamped > >	cmd_vel_pub_
	Publish executed commands. More...

double	cmd_vel_timeout_
	Timeout to consider cmd_vel commands old: More...

realtime_tools::RealtimeBuffer< Commands >	command_

Commands	command_struct_

boost::shared_ptr< ReconfigureServer >	dyn_reconf_server_

realtime_tools::RealtimeBuffer< DynamicParams >	dynamic_params_

bool	enable_odom_tf_
	Whether to publish odometry to tf or not: More...

Commands	last0_cmd_

Commands	last1_cmd_
	Speed limiters: More...

ros::Time	last_state_publish_time_

std::vector< hardware_interface::JointHandle >	left_wheel_joints_
	Hardware handles: More...

double	left_wheel_radius_multiplier_

SpeedLimiter	limiter_ang_

SpeedLimiter	limiter_lin_

std::string	name_

std::string	odom_frame_id_
	Frame to use for odometry and odom tf: More...

boost::shared_ptr< realtime_tools::RealtimePublisher< nav_msgs::Odometry > >	odom_pub_
	Odometry related: More...

Odometry	odometry_

bool	open_loop_

bool	publish_cmd_
	Publish limited velocity: More...

ros::Duration	publish_period_
	Odometry related: More...

std::vector< hardware_interface::JointHandle >	right_wheel_joints_

double	right_wheel_radius_multiplier_

ros::Subscriber	sub_command_

boost::shared_ptr< realtime_tools::RealtimePublisher< tf::tfMessage > >	tf_odom_pub_

size_t	wheel_joints_size_
	Number of wheel joints: More...

double	wheel_radius_
	Wheel radius (assuming it's the same for the left and right wheels): More...

double	wheel_separation_
	Wheel separation, wrt the midpoint of the wheel width: More...

double	wheel_separation_multiplier_
	Wheel separation and radius calibration multipliers: More...

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

Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

Protected Member Functions inherited from controller_interface::Controller< hardware_interface::VelocityJointInterface >
std::string	getHardwareInterfaceType () const

virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

This class makes some assumptions on the model of the robot:

the rotation axes of wheels are collinear
the wheels are identical in radius Additional assumptions to not duplicate information readily available in the URDF:
the wheels have the same parent frame
a wheel collision geometry is a cylinder or sphere in the urdf
a wheel joint frame center's vertical projection on the floor must lie within the contact patch

Definition at line 66 of file diff_drive_controller.h.

Member Typedef Documentation

typedef dynamic_reconfigure::Server<DiffDriveControllerConfig> diff_drive_controller::DiffDriveController::ReconfigureServer

private

Dynamic Reconfigure server.

Definition at line 217 of file diff_drive_controller.h.

Constructor & Destructor Documentation

diff_drive_controller::DiffDriveController::DiffDriveController ( )

Definition at line 152 of file diff_drive_controller.cpp.

Member Function Documentation

void diff_drive_controller::DiffDriveController::brake ( )

private

Brakes the wheels, i.e. sets the velocity to 0.

Definition at line 479 of file diff_drive_controller.cpp.

void diff_drive_controller::DiffDriveController::cmdVelCallback ( const geometry_msgs::Twist & command )

private

Velocity command callback.

Parameters

command Velocity command message (twist)

Definition at line 489 of file diff_drive_controller.cpp.

bool diff_drive_controller::DiffDriveController::getWheelNames	(	ros::NodeHandle &	controller_nh,
		const std::string &	wheel_param,
		std::vector< std::string > &	wheel_names
	)

private

Get the wheel names from a wheel param.

Parameters

[in]	controller_nh	Controller node handler
[in]	wheel_param	Param name
[out]	wheel_names	Vector with the whel names

Returns: true if the wheel_param is available and the wheel_names are retrieved successfully from the param server; false otherwise

Definition at line 518 of file diff_drive_controller.cpp.

bool diff_drive_controller::DiffDriveController::init	(	hardware_interface::VelocityJointInterface *	hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

virtual

Initialize controller.

Parameters

hw	Velocity joint interface for the wheels
root_nh	Node handle at root namespace
controller_nh	Node handle inside the controller namespace

Reimplemented from controller_interface::Controller< hardware_interface::VelocityJointInterface >.

Definition at line 170 of file diff_drive_controller.cpp.

void diff_drive_controller::DiffDriveController::reconfCallback	(	DiffDriveControllerConfig &	config,
		uint32_t
	)

private

Callback for dynamic_reconfigure server.

Parameters

config	The config set from dynamic_reconfigure server
level	not used at this time.

See also: dyn_reconf_server_

Definition at line 687 of file diff_drive_controller.cpp.

bool diff_drive_controller::DiffDriveController::setOdomParamsFromUrdf	(	ros::NodeHandle &	root_nh,
		const std::string &	left_wheel_name,
		const std::string &	right_wheel_name,
		bool	lookup_wheel_separation,
		bool	lookup_wheel_radius
	)

private

Sets odometry parameters from the URDF, i.e. the wheel radius and separation.

Parameters

root_nh	Root node handle
left_wheel_name	Name of the left wheel joint
right_wheel_name	Name of the right wheel joint

Definition at line 571 of file diff_drive_controller.cpp.

void diff_drive_controller::DiffDriveController::setOdomPubFields	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

private

Sets the odometry publishing fields.

Parameters

root_nh	Root node handle
controller_nh	Node handle inside the controller namespace

Definition at line 640 of file diff_drive_controller.cpp.

void diff_drive_controller::DiffDriveController::starting ( const ros::Time & time )

virtual

Starts controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 464 of file diff_drive_controller.cpp.

void diff_drive_controller::DiffDriveController::stopping ( const ros::Time & )

virtual

Stops controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 474 of file diff_drive_controller.cpp.

void diff_drive_controller::DiffDriveController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Updates controller, i.e. computes the odometry and sets the new velocity commands.

Parameters

time	Current time
period	Time since the last called to update

Implements controller_interface::ControllerBase.

Definition at line 352 of file diff_drive_controller.cpp.

void diff_drive_controller::DiffDriveController::updateDynamicParams ( )

private

Update the dynamic parameters in the RT loop.

Definition at line 703 of file diff_drive_controller.cpp.

Member Data Documentation

bool diff_drive_controller::DiffDriveController::allow_multiple_cmd_vel_publishers_

private

Whether to allow multiple publishers on cmd_vel topic or not:

Definition at line 149 of file diff_drive_controller.h.

std::string diff_drive_controller::DiffDriveController::base_frame_id_

private

Frame to use for the robot base:

Definition at line 152 of file diff_drive_controller.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<geometry_msgs::TwistStamped> > diff_drive_controller::DiffDriveController::cmd_vel_pub_

private

Publish executed commands.

Definition at line 127 of file diff_drive_controller.h.

double diff_drive_controller::DiffDriveController::cmd_vel_timeout_

private

Timeout to consider cmd_vel commands old:

Definition at line 146 of file diff_drive_controller.h.

realtime_tools::RealtimeBuffer<Commands> diff_drive_controller::DiffDriveController::command_

private

Definition at line 122 of file diff_drive_controller.h.

Commands diff_drive_controller::DiffDriveController::command_struct_

private

Definition at line 123 of file diff_drive_controller.h.

boost::shared_ptr<ReconfigureServer> diff_drive_controller::DiffDriveController::dyn_reconf_server_

private

Definition at line 218 of file diff_drive_controller.h.

realtime_tools::RealtimeBuffer<DynamicParams> diff_drive_controller::DiffDriveController::dynamic_params_

private

Definition at line 214 of file diff_drive_controller.h.

bool diff_drive_controller::DiffDriveController::enable_odom_tf_

private

Whether to publish odometry to tf or not:

Definition at line 158 of file diff_drive_controller.h.

Commands diff_drive_controller::DiffDriveController::last0_cmd_

private

Definition at line 165 of file diff_drive_controller.h.

Commands diff_drive_controller::DiffDriveController::last1_cmd_

private

Speed limiters:

Definition at line 164 of file diff_drive_controller.h.

ros::Time diff_drive_controller::DiffDriveController::last_state_publish_time_

private

Definition at line 106 of file diff_drive_controller.h.

std::vector<hardware_interface::JointHandle> diff_drive_controller::DiffDriveController::left_wheel_joints_

private

Hardware handles:

Definition at line 110 of file diff_drive_controller.h.

double diff_drive_controller::DiffDriveController::left_wheel_radius_multiplier_

private

Definition at line 142 of file diff_drive_controller.h.

SpeedLimiter diff_drive_controller::DiffDriveController::limiter_ang_

private

Definition at line 167 of file diff_drive_controller.h.

SpeedLimiter diff_drive_controller::DiffDriveController::limiter_lin_

private

Definition at line 166 of file diff_drive_controller.h.

std::string diff_drive_controller::DiffDriveController::name_

private

Definition at line 102 of file diff_drive_controller.h.

std::string diff_drive_controller::DiffDriveController::odom_frame_id_

private

Frame to use for odometry and odom tf:

Definition at line 155 of file diff_drive_controller.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > diff_drive_controller::DiffDriveController::odom_pub_

private

Odometry related:

Definition at line 130 of file diff_drive_controller.h.

Odometry diff_drive_controller::DiffDriveController::odometry_

private

Definition at line 132 of file diff_drive_controller.h.

bool diff_drive_controller::DiffDriveController::open_loop_

private

Definition at line 107 of file diff_drive_controller.h.

bool diff_drive_controller::DiffDriveController::publish_cmd_

private

Publish limited velocity:

Definition at line 170 of file diff_drive_controller.h.

ros::Duration diff_drive_controller::DiffDriveController::publish_period_

private

Odometry related:

Definition at line 105 of file diff_drive_controller.h.

std::vector<hardware_interface::JointHandle> diff_drive_controller::DiffDriveController::right_wheel_joints_

private

Definition at line 111 of file diff_drive_controller.h.

double diff_drive_controller::DiffDriveController::right_wheel_radius_multiplier_

private

Definition at line 143 of file diff_drive_controller.h.

ros::Subscriber diff_drive_controller::DiffDriveController::sub_command_

private

Definition at line 124 of file diff_drive_controller.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<tf::tfMessage> > diff_drive_controller::DiffDriveController::tf_odom_pub_

private

Definition at line 131 of file diff_drive_controller.h.

size_t diff_drive_controller::DiffDriveController::wheel_joints_size_

private

Number of wheel joints:

Definition at line 161 of file diff_drive_controller.h.

double diff_drive_controller::DiffDriveController::wheel_radius_

private

Wheel radius (assuming it's the same for the left and right wheels):

Definition at line 138 of file diff_drive_controller.h.

double diff_drive_controller::DiffDriveController::wheel_separation_

private

Wheel separation, wrt the midpoint of the wheel width:

Definition at line 135 of file diff_drive_controller.h.

double diff_drive_controller::DiffDriveController::wheel_separation_multiplier_

private

Wheel separation and radius calibration multipliers:

Definition at line 141 of file diff_drive_controller.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation