joint_position_controller.h
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35 
36 #ifndef EFFORT_CONTROLLERS__JOINT_POSITION_CONTROLLER_H
37 #define EFFORT_CONTROLLERS__JOINT_POSITION_CONTROLLER_H
38 
62 #include <control_msgs/JointControllerState.h>
63 #include <control_msgs/JointControllerState.h>
64 #include <control_toolbox/pid.h>
67 #include <memory>
70 #include <ros/node_handle.h>
71 #include <std_msgs/Float64.h>
72 #include <urdf/model.h>
73 
74 namespace effort_controllers
75 {
76 
77 class JointPositionController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
78 {
79 public:
80 
84  struct Commands
85  {
86  double position_; // Last commanded position
87  double velocity_; // Last commanded velocity
88  bool has_velocity_; // false if no velocity command has been specified
89  };
90 
93 
108 
114  void setCommand(double pos_target);
115 
123  void setCommand(double pos_target, double vel_target);
124 
130  void starting(const ros::Time& time);
131 
135  void update(const ros::Time& time, const ros::Duration& period);
136 
140  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
141 
145  void getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup);
146 
150  void printDebug();
151 
155  void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup = false);
156 
160  std::string getJointName();
161 
166  double getPosition();
167 
169  urdf::JointConstSharedPtr joint_urdf_;
171  Commands command_struct_; // pre-allocated memory that is re-used to set the realtime buffer
172 
173 private:
177  std::unique_ptr<
179  control_msgs::JointControllerState> > controller_state_publisher_ ;
180 
182 
186  void setCommandCB(const std_msgs::Float64ConstPtr& msg);
187 
193  void enforceJointLimits(double &command);
194 
195 };
196 
197 } // namespace
198 
199 #endif
void starting(const ros::Time &time)
This is called from within the realtime thread just before the first call to update.
bool init(hardware_interface::EffortJointInterface *robot, ros::NodeHandle &n)
The init function is called to initialize the controller from a non-realtime thread with a pointer to...
Store position and velocity command in struct to allow easier realtime buffer usage.
std::unique_ptr< realtime_tools::RealtimePublisher< control_msgs::JointControllerState > > controller_state_publisher_
void update(const ros::Time &time, const ros::Duration &period)
Issues commands to the joint. Should be called at regular intervals.
realtime_tools::RealtimeBuffer< Commands > command_
void setCommandCB(const std_msgs::Float64ConstPtr &msg)
Callback from /command subscriber for setpoint.
double getPosition()
Get the current position of the joint.
void getGains(double &p, double &i, double &d, double &i_max, double &i_min)
Get the PID parameters.
void setCommand(double pos_target)
Give set position of the joint for next update: revolute (angle) and prismatic (position) ...
void enforceJointLimits(double &command)
Check that the command is within the hard limits of the joint. Checks for joint type first...
std::string getJointName()
Get the name of the joint this controller uses.
void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup=false)
Set the PID parameters.


effort_controllers
Author(s): Vijay Pradeep
autogenerated on Fri Nov 15 2019 03:18:20