#include <double_diff_drive_controller.h>

Inheritance diagram for double_diff_drive_controller::DoubleDiffDriveController:

Classes
struct	Commands
	Velocity command related: More...

Public Member Functions
	DoubleDiffDriveController ()

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 &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 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...

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

bool	setWheelParamsFromUrdf (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, const std::string &drive_motor_name, const std::string &steer_motor_name)
	Sets odometry parameters from the URDF, i.e. the wheel radius and separation. More...

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

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

realtime_tools::RealtimeBuffer< Commands >	command_

Commands	command_struct_

double	drive_motor_gear_ratio_

hardware_interface::JointHandle	drive_motor_input_
	Hardware handles: More...

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

Commands	last_cmd_

ros::Time	last_state_publish_time_

double	left_wheel_radius_multiplier_

SpeedLimiter	limiter_ang_

SpeedLimiter	limiter_lin_

std::string	name_

geometry_msgs::TransformStamped	odom_frame_

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

Odometry	odometry_

bool	open_loop_

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

double	right_wheel_radius_multiplier_

double	steer_motor_gear_ratio_

hardware_interface::JointHandle	steer_motor_input_

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 in the urdf
a wheel joint frame center's vertical projection on the floor must lie within the contact patch

Definition at line 64 of file double_diff_drive_controller.h.

Constructor & Destructor Documentation

double_diff_drive_controller::DoubleDiffDriveController::DoubleDiffDriveController ( )

Definition at line 52 of file double_diff_drive_controller.cpp.

Member Function Documentation

void double_diff_drive_controller::DoubleDiffDriveController::brake ( )

private

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

Definition at line 235 of file double_diff_drive_controller.cpp.

void double_diff_drive_controller::DoubleDiffDriveController::cmdVelCallback ( const geometry_msgs::Twist & command )

private

Velocity command callback.

Parameters

command Velocity command message (twist)

Definition at line 242 of file double_diff_drive_controller.cpp.

bool double_diff_drive_controller::DoubleDiffDriveController::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 67 of file double_diff_drive_controller.cpp.

void double_diff_drive_controller::DoubleDiffDriveController::setupRtPublishersMsg	(	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 309 of file double_diff_drive_controller.cpp.

bool double_diff_drive_controller::DoubleDiffDriveController::setWheelParamsFromUrdf	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh,
		const std::string &	drive_motor_name,
		const std::string &	steer_motor_name
	)

private

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

Parameters

root_nh	Root node handle
wheel0_name	Name of wheel0 joint
wheel1_name	Name of wheel1 joint

Definition at line 263 of file double_diff_drive_controller.cpp.

void double_diff_drive_controller::DoubleDiffDriveController::starting ( const ros::Time & time )

virtual

Starts controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 218 of file double_diff_drive_controller.cpp.

void double_diff_drive_controller::DoubleDiffDriveController::stopping ( const ros::Time & time )

virtual

Stops controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 229 of file double_diff_drive_controller.cpp.

void double_diff_drive_controller::DoubleDiffDriveController::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 138 of file double_diff_drive_controller.cpp.

Member Data Documentation

std::string double_diff_drive_controller::DoubleDiffDriveController::base_frame_id_

private

Frame to use for the robot base:

Definition at line 147 of file double_diff_drive_controller.h.

double double_diff_drive_controller::DoubleDiffDriveController::cmd_vel_timeout_

private

Timeout to consider cmd_vel commands old:

Definition at line 144 of file double_diff_drive_controller.h.

realtime_tools::RealtimeBuffer<Commands> double_diff_drive_controller::DoubleDiffDriveController::command_

private

Definition at line 121 of file double_diff_drive_controller.h.

Commands double_diff_drive_controller::DoubleDiffDriveController::command_struct_

private

Definition at line 122 of file double_diff_drive_controller.h.

double double_diff_drive_controller::DoubleDiffDriveController::drive_motor_gear_ratio_

private

Definition at line 134 of file double_diff_drive_controller.h.

hardware_interface::JointHandle double_diff_drive_controller::DoubleDiffDriveController::drive_motor_input_

private

Hardware handles:

Definition at line 107 of file double_diff_drive_controller.h.

bool double_diff_drive_controller::DoubleDiffDriveController::enable_odom_tf_

private

Whether to publish odometry to tf or not:

Definition at line 150 of file double_diff_drive_controller.h.

Commands double_diff_drive_controller::DoubleDiffDriveController::last_cmd_

private

Definition at line 156 of file double_diff_drive_controller.h.

ros::Time double_diff_drive_controller::DoubleDiffDriveController::last_state_publish_time_

private

Definition at line 103 of file double_diff_drive_controller.h.

double double_diff_drive_controller::DoubleDiffDriveController::left_wheel_radius_multiplier_

private

Definition at line 140 of file double_diff_drive_controller.h.

SpeedLimiter double_diff_drive_controller::DoubleDiffDriveController::limiter_ang_

private

Definition at line 158 of file double_diff_drive_controller.h.

SpeedLimiter double_diff_drive_controller::DoubleDiffDriveController::limiter_lin_

private

Definition at line 157 of file double_diff_drive_controller.h.

std::string double_diff_drive_controller::DoubleDiffDriveController::name_

private

Definition at line 99 of file double_diff_drive_controller.h.

geometry_msgs::TransformStamped double_diff_drive_controller::DoubleDiffDriveController::odom_frame_

private

Definition at line 129 of file double_diff_drive_controller.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > double_diff_drive_controller::DoubleDiffDriveController::odom_pub_

private

Odometry related:

Definition at line 126 of file double_diff_drive_controller.h.

Odometry double_diff_drive_controller::DoubleDiffDriveController::odometry_

private

Definition at line 128 of file double_diff_drive_controller.h.

bool double_diff_drive_controller::DoubleDiffDriveController::open_loop_

private

Definition at line 104 of file double_diff_drive_controller.h.

ros::Duration double_diff_drive_controller::DoubleDiffDriveController::publish_period_

private

Odometry related:

Definition at line 102 of file double_diff_drive_controller.h.

double double_diff_drive_controller::DoubleDiffDriveController::right_wheel_radius_multiplier_

private

Definition at line 141 of file double_diff_drive_controller.h.

double double_diff_drive_controller::DoubleDiffDriveController::steer_motor_gear_ratio_

private

Definition at line 134 of file double_diff_drive_controller.h.

hardware_interface::JointHandle double_diff_drive_controller::DoubleDiffDriveController::steer_motor_input_

private

Definition at line 108 of file double_diff_drive_controller.h.

ros::Subscriber double_diff_drive_controller::DoubleDiffDriveController::sub_command_

private

Definition at line 123 of file double_diff_drive_controller.h.

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

private

Definition at line 127 of file double_diff_drive_controller.h.

size_t double_diff_drive_controller::DoubleDiffDriveController::wheel_joints_size_

private

Number of wheel joints:

Definition at line 153 of file double_diff_drive_controller.h.

double double_diff_drive_controller::DoubleDiffDriveController::wheel_radius_

private

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

Definition at line 136 of file double_diff_drive_controller.h.

double double_diff_drive_controller::DoubleDiffDriveController::wheel_separation_

private

Wheel separation, wrt the midpoint of the wheel width:

Definition at line 132 of file double_diff_drive_controller.h.

double double_diff_drive_controller::DoubleDiffDriveController::wheel_separation_multiplier_

private

Wheel separation and radius calibration multipliers:

Definition at line 139 of file double_diff_drive_controller.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation