#include <ackermann_steering_controller.h>

Inheritance diagram for ackermann_steering_controller::AckermannSteeringController:

Classes
struct	Commands
	Velocity command related: More...

Public Member Functions
	AckermannSteeringController ()

bool	init (hardware_interface::RobotHW *robot_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::MultiInterfaceController< hardware_interface::PositionJointInterface, hardware_interface::VelocityJointInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

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 void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

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	setOdomParamsFromUrdf (ros::NodeHandle &root_nh, const std::string rear_wheel_name, const std::string front_steer_name, bool lookup_wheel_separation_h, 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...

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...

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

realtime_tools::RealtimeBuffer< Commands >	command_

Commands	command_struct_

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

hardware_interface::JointHandle	front_steer_joint_

Commands	last0_cmd_

Commands	last1_cmd_
	Speed limiters: More...

ros::Time	last_state_publish_time_

diff_drive_controller::SpeedLimiter	limiter_ang_

diff_drive_controller::SpeedLimiter	limiter_lin_

std::string	name_

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

std::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...

hardware_interface::JointHandle	rear_wheel_joint_
	Hardware handles: More...

size_t	steer_joints_size_
	Number of steer joints: More...

double	steer_pos_multiplier_

ros::Subscriber	sub_command_

std::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_radius_multiplier_

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

double	wheel_separation_h_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

enum	ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED }

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface, hardware_interface::VelocityJointInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface, hardware_interface::VelocityJointInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Protected Attributes inherited from controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface, hardware_interface::VelocityJointInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

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 96 of file ackermann_steering_controller.h.

Constructor & Destructor Documentation

◆ AckermannSteeringController()

ackermann_steering_controller::AckermannSteeringController::AckermannSteeringController ( )

Definition at line 108 of file ackermann_steering_controller.cpp.

Member Function Documentation

◆ brake()

void ackermann_steering_controller::AckermannSteeringController::brake ( )

private

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

Definition at line 354 of file ackermann_steering_controller.cpp.

◆ cmdVelCallback()

void ackermann_steering_controller::AckermannSteeringController::cmdVelCallback ( const geometry_msgs::Twist & command )

private

Velocity command callback.

Parameters

command Velocity command message (twist)

Definition at line 363 of file ackermann_steering_controller.cpp.

◆ init()

bool ackermann_steering_controller::AckermannSteeringController::init	(	hardware_interface::RobotHW *	robot_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::MultiInterfaceController< hardware_interface::PositionJointInterface, hardware_interface::VelocityJointInterface >.

Definition at line 125 of file ackermann_steering_controller.cpp.

◆ setOdomParamsFromUrdf()

bool ackermann_steering_controller::AckermannSteeringController::setOdomParamsFromUrdf	(	ros::NodeHandle &	root_nh,
		const std::string	rear_wheel_name,
		const std::string	front_steer_name,
		bool	lookup_wheel_separation_h,
		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 393 of file ackermann_steering_controller.cpp.

◆ setOdomPubFields()

void ackermann_steering_controller::AckermannSteeringController::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 468 of file ackermann_steering_controller.cpp.

◆ starting()

void ackermann_steering_controller::AckermannSteeringController::starting ( const ros::Time & time )

virtual

Starts controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 339 of file ackermann_steering_controller.cpp.

◆ stopping()

void ackermann_steering_controller::AckermannSteeringController::stopping ( const ros::Time & )

virtual

Stops controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 349 of file ackermann_steering_controller.cpp.

◆ update()

void ackermann_steering_controller::AckermannSteeringController::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 259 of file ackermann_steering_controller.cpp.

Member Data Documentation

◆ allow_multiple_cmd_vel_publishers_

bool ackermann_steering_controller::AckermannSteeringController::allow_multiple_cmd_vel_publishers_

private

Whether to allow multiple publishers on cmd_vel topic or not:

Definition at line 211 of file ackermann_steering_controller.h.

◆ base_frame_id_

std::string ackermann_steering_controller::AckermannSteeringController::base_frame_id_

private

Frame to use for the robot base:

Definition at line 214 of file ackermann_steering_controller.h.

◆ cmd_vel_timeout_

double ackermann_steering_controller::AckermannSteeringController::cmd_vel_timeout_

private

Timeout to consider cmd_vel commands old:

Definition at line 208 of file ackermann_steering_controller.h.

◆ command_

realtime_tools::RealtimeBuffer<Commands> ackermann_steering_controller::AckermannSteeringController::command_

private

Definition at line 187 of file ackermann_steering_controller.h.

◆ command_struct_

Commands ackermann_steering_controller::AckermannSteeringController::command_struct_

private

Definition at line 188 of file ackermann_steering_controller.h.

◆ enable_odom_tf_

bool ackermann_steering_controller::AckermannSteeringController::enable_odom_tf_

private

Whether to publish odometry to tf or not:

Definition at line 220 of file ackermann_steering_controller.h.

◆ front_steer_joint_

hardware_interface::JointHandle ackermann_steering_controller::AckermannSteeringController::front_steer_joint_

private

Definition at line 176 of file ackermann_steering_controller.h.

◆ last0_cmd_

Commands ackermann_steering_controller::AckermannSteeringController::last0_cmd_

private

Definition at line 230 of file ackermann_steering_controller.h.

◆ last1_cmd_

Commands ackermann_steering_controller::AckermannSteeringController::last1_cmd_

private

Speed limiters:

Definition at line 229 of file ackermann_steering_controller.h.

◆ last_state_publish_time_

ros::Time ackermann_steering_controller::AckermannSteeringController::last_state_publish_time_

private

Definition at line 171 of file ackermann_steering_controller.h.

◆ limiter_ang_

diff_drive_controller::SpeedLimiter ackermann_steering_controller::AckermannSteeringController::limiter_ang_

private

Definition at line 232 of file ackermann_steering_controller.h.

◆ limiter_lin_

diff_drive_controller::SpeedLimiter ackermann_steering_controller::AckermannSteeringController::limiter_lin_

private

Definition at line 231 of file ackermann_steering_controller.h.

◆ name_

std::string ackermann_steering_controller::AckermannSteeringController::name_

private

Definition at line 167 of file ackermann_steering_controller.h.

◆ odom_frame_id_

std::string ackermann_steering_controller::AckermannSteeringController::odom_frame_id_

private

Frame to use for odometry and odom tf:

Definition at line 217 of file ackermann_steering_controller.h.

◆ odom_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > ackermann_steering_controller::AckermannSteeringController::odom_pub_

private

Odometry related:

Definition at line 192 of file ackermann_steering_controller.h.

◆ odometry_

Odometry ackermann_steering_controller::AckermannSteeringController::odometry_

private

Definition at line 194 of file ackermann_steering_controller.h.

◆ open_loop_

bool ackermann_steering_controller::AckermannSteeringController::open_loop_

private

Definition at line 172 of file ackermann_steering_controller.h.

◆ publish_period_

ros::Duration ackermann_steering_controller::AckermannSteeringController::publish_period_

private

Odometry related:

Definition at line 170 of file ackermann_steering_controller.h.

◆ rear_wheel_joint_

hardware_interface::JointHandle ackermann_steering_controller::AckermannSteeringController::rear_wheel_joint_

private

Hardware handles:

Definition at line 175 of file ackermann_steering_controller.h.

◆ steer_joints_size_

size_t ackermann_steering_controller::AckermannSteeringController::steer_joints_size_

private

Number of steer joints:

Definition at line 226 of file ackermann_steering_controller.h.

◆ steer_pos_multiplier_

double ackermann_steering_controller::AckermannSteeringController::steer_pos_multiplier_

private

Definition at line 205 of file ackermann_steering_controller.h.

◆ sub_command_

ros::Subscriber ackermann_steering_controller::AckermannSteeringController::sub_command_

private

Definition at line 189 of file ackermann_steering_controller.h.

◆ tf_odom_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<tf::tfMessage> > ackermann_steering_controller::AckermannSteeringController::tf_odom_pub_

private

Definition at line 193 of file ackermann_steering_controller.h.

◆ wheel_joints_size_

size_t ackermann_steering_controller::AckermannSteeringController::wheel_joints_size_

private

Number of wheel joints:

Definition at line 223 of file ackermann_steering_controller.h.

◆ wheel_radius_

double ackermann_steering_controller::AckermannSteeringController::wheel_radius_

private

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

Definition at line 200 of file ackermann_steering_controller.h.

◆ wheel_radius_multiplier_

double ackermann_steering_controller::AckermannSteeringController::wheel_radius_multiplier_

private

Definition at line 204 of file ackermann_steering_controller.h.

◆ wheel_separation_h_

double ackermann_steering_controller::AckermannSteeringController::wheel_separation_h_

private

Wheel separation, wrt the midpoint of the wheel width:

Definition at line 197 of file ackermann_steering_controller.h.

◆ wheel_separation_h_multiplier_

double ackermann_steering_controller::AckermannSteeringController::wheel_separation_h_multiplier_

private

Wheel separation and radius calibration multipliers:

Definition at line 203 of file ackermann_steering_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

◆ AckermannSteeringController()

Member Function Documentation

◆ brake()

◆ cmdVelCallback()

◆ init()

◆ setOdomParamsFromUrdf()

◆ setOdomPubFields()

◆ starting()

◆ stopping()

◆ update()

Member Data Documentation

◆ allow_multiple_cmd_vel_publishers_

◆ base_frame_id_

◆ cmd_vel_timeout_

◆ command_

◆ command_struct_

◆ enable_odom_tf_

◆ front_steer_joint_

◆ last0_cmd_

◆ last1_cmd_

◆ last_state_publish_time_

◆ limiter_ang_

◆ limiter_lin_

◆ name_

◆ odom_frame_id_

◆ odom_pub_

◆ odometry_

◆ open_loop_

◆ publish_period_

◆ rear_wheel_joint_

◆ steer_joints_size_

◆ steer_pos_multiplier_

◆ sub_command_

◆ tf_odom_pub_

◆ wheel_joints_size_

◆ wheel_radius_

◆ wheel_radius_multiplier_

◆ wheel_separation_h_

◆ wheel_separation_h_multiplier_