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cob_undercarriage_ctrl.cpp

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_undercarriage_ctrl
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Christian Connette, email:christian.connette@ipa.fhg.de
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: April 2010:
 * ToDo: Adapt Interface to controller -> remove last variable (not used anymore)
 *       Rework Ctrl-class to work with SI-Units -> remove conversion
 *               For easier association of joints use platform.urdf!!
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

//##################
//#### includes ####

// standard includes
#include <math.h>

// ROS includes
#include <ros/ros.h>

// ROS message includes
#include <sensor_msgs/JointState.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <tf/transform_broadcaster.h>
#include <cob_relayboard/EmergencyStopState.h>
#include <pr2_controllers_msgs/JointTrajectoryControllerState.h>

// external includes
#include <cob_undercarriage_ctrl/UndercarriageCtrlGeom.h>
#include <cob_utilities/IniFile.h>
//#include <cob_utilities/MathSup.h>

//####################
//#### node class ####
class NodeClass
{
    //
    public:
            // create a handle for this node, initialize node
            ros::NodeHandle n;
                
        // topics to publish
        ros::Publisher topic_pub_joint_state_cmd_;      // cmd issued for single joints of undercarriage
                ros::Publisher topic_pub_controller_joint_command_;
        ros::Publisher topic_pub_odometry_;                     // calculated (measured) velocity, rotation and pose (odometry-based) for the robot
        tf::TransformBroadcaster tf_broadcast_odometry_;        // according transformation for the tf broadcaster
        
            // topics to subscribe, callback is called for new messages arriving
        ros::Subscriber topic_sub_CMD_pltf_twist_;      // issued command to be achieved by the platform
        ros::Subscriber topic_sub_EM_stop_state_;       // current emergency stop state (free, active, confirmed)
                ros::Subscriber topic_sub_drive_diagnostic_;// status of drive chain (initializing, error, normal)

                //subscribe to JointStates topic
                //ros::Subscriber topic_sub_joint_states_;
                ros::Subscriber topic_sub_joint_controller_states_;

                // diagnostic stuff
                diagnostic_updater::Updater updater_;

                // controller Timer
        ros::Timer timer_ctrl_step_;

        // member variables
                UndercarriageCtrlGeom * ucar_ctrl_;     // instantiate undercarriage controller
                std::string sIniDirectory;
                bool is_initialized_bool_;                      // flag wether node is already up and running
                int drive_chain_diagnostic_;            // flag whether base drive chain is operating normal 
                ros::Time last_time_;                           // time Stamp for last odometry measurement
                ros::Time joint_state_odom_stamp_;      // time stamp of joint states used for current odometry calc
                double sample_time_;
                double x_rob_m_, y_rob_m_, theta_rob_rad_; // accumulated motion of robot since startup
        int iwatchdog_;
        double  vel_x_rob_last_, vel_y_rob_last_, vel_theta_rob_last_; //save velocities for better odom calculation
                
                int m_iNumJoints;
                
                diagnostic_msgs::DiagnosticStatus diagnostic_status_lookup_; // used to access defines for warning levels

        // Constructor
        NodeClass()
        {
                        // initialization of variables
                        is_initialized_bool_ = false;
                        iwatchdog_ = 0;
                        last_time_ = ros::Time::now();
                        sample_time_ = 0.020;
                        x_rob_m_ = 0.0;
                        y_rob_m_ = 0.0;
                        theta_rob_rad_ = 0.0;
                        vel_x_rob_last_ = 0.0;
                        vel_y_rob_last_ = 0.0;
                        vel_theta_rob_last_ = 0.0;
                        // set status of drive chain to WARN by default
                        drive_chain_diagnostic_ = diagnostic_status_lookup_.OK; //WARN; <- THATS FOR DEBUGGING ONLY!
                        
                        // Parameters are set within the launch file
                        // Read number of drives from iniFile and pass IniDirectory to CobPlatfCtrl.
                        if (n.hasParam("IniDirectory"))
                        {
                                n.getParam("IniDirectory", sIniDirectory);
                                ROS_INFO("IniDirectory loaded from Parameter-Server is: %s", sIniDirectory.c_str());
                        }
                        else
                        {
                                sIniDirectory = "Platform/IniFiles/";
                                ROS_WARN("IniDirectory not found on Parameter-Server, using default value: %s", sIniDirectory.c_str());
                        }

                        IniFile iniFile;
                        iniFile.SetFileName(sIniDirectory + "Platform.ini", "PltfHardwareCoB3.h");
                        iniFile.GetKeyInt("Config", "NumberOfMotors", &m_iNumJoints, true);
                        
                        ucar_ctrl_ = new UndercarriageCtrlGeom(sIniDirectory);
                        
                        
                        // implementation of topics
            // published topics
                        //topic_pub_joint_state_cmd_ = n.advertise<sensor_msgs::JointState>("joint_command", 1);
                        topic_pub_controller_joint_command_ = n.advertise<pr2_controllers_msgs::JointTrajectoryControllerState> ("joint_command", 1);

                        topic_pub_odometry_ = n.advertise<nav_msgs::Odometry>("odometry", 1);

            // subscribed topics
                        topic_sub_CMD_pltf_twist_ = n.subscribe("command", 1, &NodeClass::topicCallbackTwistCmd, this);
            topic_sub_EM_stop_state_ = n.subscribe("/emergency_stop_state", 1, &NodeClass::topicCallbackEMStop, this);
            topic_sub_drive_diagnostic_ = n.subscribe("diagnostic", 1, &NodeClass::topicCallbackDiagnostic, this);

                        
                        
                        //topic_sub_joint_states_ = n.subscribe("/joint_states", 1, &NodeClass::topicCallbackJointStates, this);
                        topic_sub_joint_controller_states_ = n.subscribe("state", 1, &NodeClass::topicCallbackJointControllerStates, this);

                        // diagnostics
                        updater_.setHardwareID(ros::this_node::getName());
                        updater_.add("initialization", this, &NodeClass::diag_init);
            
            //set up timer to cyclically call controller-step
            timer_ctrl_step_ = n.createTimer(ros::Duration(sample_time_), &NodeClass::timerCallbackCtrlStep, this);

        }
        
        // Destructor
        ~NodeClass() 
        {
        }

                void diag_init(diagnostic_updater::DiagnosticStatusWrapper &stat)
                {
                if(is_initialized_bool_)
                        stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "");
                else
                        stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "");
                        stat.add("Initialized", is_initialized_bool_);
                }

                // Listen for Pltf Cmds
                void topicCallbackTwistCmd(const geometry_msgs::Twist::ConstPtr& msg)
                {
                        double vx_cmd_mms, vy_cmd_mms, w_cmd_rads;

                        iwatchdog_ = 0;                 

                        // controller expects velocities in mm/s, ROS works with SI-Units -> convert
                        // ToDo: rework Controller Class to work with SI-Units
                        vx_cmd_mms = msg->linear.x*1000.0;
                        vy_cmd_mms = msg->linear.y*1000.0;
                        w_cmd_rads = msg->angular.z;

                        // only process if controller is already initialized
                        if (is_initialized_bool_ && drive_chain_diagnostic_==diagnostic_status_lookup_.OK)
            {
                                ROS_DEBUG("received new velocity command [cmdVelX=%3.5f,cmdVelY=%3.5f,cmdVelTh=%3.5f]", 
                                        msg->linear.x, msg->linear.y, msg->angular.z);

                                // Set desired value for Plattform Velocity to UndercarriageCtrl (setpoint setting)
                                ucar_ctrl_->SetDesiredPltfVelocity(vx_cmd_mms, vy_cmd_mms, w_cmd_rads, 0.0);
                                // ToDo: last value (0.0) is not used anymore --> remove from interface
                        }
                        else
                        {       
                                // Set desired value for Plattform Velocity to zero (setpoint setting)
                                ucar_ctrl_->SetDesiredPltfVelocity( 0.0, 0.0, 0.0, 0.0);
                                // ToDo: last value (0.0) is not used anymore --> remove from interface
                                ROS_DEBUG("Forced platform-velocity cmds to zero");
                        }
                }

                // Listen for Emergency Stop
                void topicCallbackEMStop(const cob_relayboard::EmergencyStopState::ConstPtr& msg)
                {
                        int EM_state;
                        EM_state = msg->emergency_state;

                        if (EM_state == msg->EMFREE)
                        {
                                // Reset EM flag in Ctrlr
                                if (is_initialized_bool_) 
                                {
                                        ucar_ctrl_->setEMStopActive(false);
                                        ROS_DEBUG("Undercarriage Controller EM-Stop released");
                                        // reset only done, when system initialized
                                        // -> allows to stop ctrlr during init, reset and shutdown
                                }
                        }
                        else
                        {
                ROS_DEBUG("Undercarriage Controller stopped due to EM-Stop");

                                // Set desired value for Plattform Velocity to zero (setpoint setting)
                                ucar_ctrl_->SetDesiredPltfVelocity( 0.0, 0.0, 0.0, 0.0);
                                // ToDo: last value (0.0) is not used anymore --> remove from interface
                                ROS_DEBUG("Forced platform-velocity cmds to zero");
                
                                // Set EM flag and stop Ctrlr
                                ucar_ctrl_->setEMStopActive(true);
                        }
                }

                // Listens for status of underlying hardware (base drive chain)
                void topicCallbackDiagnostic(const diagnostic_msgs::DiagnosticStatus::ConstPtr& msg)
                {
                        pr2_controllers_msgs::JointTrajectoryControllerState joint_state_cmd;

                        // prepare joint_cmds for heartbeat (compose header)
                        joint_state_cmd.header.stamp = ros::Time::now();
                        //joint_state_cmd.header.frame_id = frame_id; //Where to get this id from?
                        // ToDo: configure over Config-File (number of motors) and Msg
                        // assign right size to JointState data containers
                        //joint_state_cmd.set_name_size(m_iNumMotors);
                        joint_state_cmd.desired.positions.resize(m_iNumJoints);
                        joint_state_cmd.desired.velocities.resize(m_iNumJoints);            
                        //joint_state_cmd.desired.effort.resize(m_iNumJoints);
                        joint_state_cmd.joint_names.push_back("fl_caster_r_wheel_joint");
                        joint_state_cmd.joint_names.push_back("fl_caster_rotation_joint");
                        joint_state_cmd.joint_names.push_back("bl_caster_r_wheel_joint");
                        joint_state_cmd.joint_names.push_back("bl_caster_rotation_joint");
                        joint_state_cmd.joint_names.push_back("br_caster_r_wheel_joint");
                        joint_state_cmd.joint_names.push_back("br_caster_rotation_joint");
                        joint_state_cmd.joint_names.push_back("fr_caster_r_wheel_joint");
                        joint_state_cmd.joint_names.push_back("fr_caster_rotation_joint");
                        // compose jointcmds
                        for(int i=0; i<m_iNumJoints; i++)
                        {
                                joint_state_cmd.desired.positions[i] = 0.0;
                                joint_state_cmd.desired.velocities[i] = 0.0;
                                //joint_state_cmd.desired.effort[i] = 0.0;
                        }
                        
                        // set status of underlying drive chain to member variable 
                        drive_chain_diagnostic_ = msg->level;

                        // if controller is already started up ...
                        if (is_initialized_bool_)
                        {
                                // ... but underlying drive chain is not yet operating normal
                                if (drive_chain_diagnostic_ != diagnostic_status_lookup_.OK)
                                {
                                        // halt controller
                        ROS_DEBUG("drive chain not availlable: halt Controller");

                                        // Set EM flag to Ctrlr (resets internal states)
                                        ucar_ctrl_->setEMStopActive(true);

                                        // Set desired value for Plattform Velocity to zero (setpoint setting)
                                        ucar_ctrl_->SetDesiredPltfVelocity( 0.0, 0.0, 0.0, 0.0);
                                        // ToDo: last value (0.0) is not used anymore --> remove from interface
                                        ROS_DEBUG("Forced platform-velocity cmds to zero");
                                        
                                        // if is not Initializing
                                        if (drive_chain_diagnostic_ != diagnostic_status_lookup_.WARN)
                                        {
                                                // publish zero-vel. jointcmds to avoid Watchdogs stopping ctrlr
                                                // this is already done in CalcControlStep
                                        }
                                }
                        }
                        // ... while controller is not initialized send heartbeats to keep motors alive
                        else
                        {
                                // ... as soon as base drive chain is initialized
                                if(drive_chain_diagnostic_ != diagnostic_status_lookup_.WARN)
                                {
                                        // publish zero-vel. jointcmds to avoid Watchdogs stopping ctrlr
                                        topic_pub_controller_joint_command_.publish(joint_state_cmd);
                                }
                        }
                }

                void topicCallbackJointControllerStates(const pr2_controllers_msgs::JointTrajectoryControllerState::ConstPtr& msg) {
                        int num_joints;
                        int iter_k, iter_j;
                        std::vector<double> drive_joint_ang_rad, drive_joint_vel_rads, drive_joint_effort_NM;
                        std::vector<double> steer_joint_ang_rad, steer_joint_vel_rads, steer_joint_effort_NM;
        
                        joint_state_odom_stamp_ = msg->header.stamp;
        
                        // copy configuration into vector classes
                        num_joints = msg->joint_names.size();
                        // drive joints
                        drive_joint_ang_rad.assign(m_iNumJoints, 0.0);
                        drive_joint_vel_rads.assign(m_iNumJoints, 0.0);
                        drive_joint_effort_NM.assign(m_iNumJoints, 0.0);
                        // steer joints
                        steer_joint_ang_rad.assign(m_iNumJoints, 0.0);
                        steer_joint_vel_rads.assign(m_iNumJoints, 0.0);
                        steer_joint_effort_NM.assign(m_iNumJoints, 0.0);

                        // init iterators
                        iter_k = 0;
                        iter_j = 0;

                        for(int i = 0; i < num_joints; i++)
                        {
                                // associate inputs to according steer and drive joints
                                // ToDo: specify this globally (Prms-File or config-File or via msg-def.)       
                                if(msg->joint_names[i] ==  "fl_caster_r_wheel_joint")
                                {
                                                drive_joint_ang_rad[0] = msg->actual.positions[i]; 
                                                drive_joint_vel_rads[0] = msg->actual.velocities[i];
                                                //drive_joint_effort_NM[0] = msg->effort[i];
                                }
                                if(msg->joint_names[i] ==  "bl_caster_r_wheel_joint")
                                {
                                                drive_joint_ang_rad[1] = msg->actual.positions[i]; 
                                                drive_joint_vel_rads[1] = msg->actual.velocities[i];
                                                //drive_joint_effort_NM[1] = msg->effort[i];
                                }
                                if(msg->joint_names[i] ==  "br_caster_r_wheel_joint")
                                {
                                                drive_joint_ang_rad[2] = msg->actual.positions[i]; 
                                                drive_joint_vel_rads[2] = msg->actual.velocities[i];
                                                //drive_joint_effort_NM[2] = msg->effort[i];
                                }
                                if(msg->joint_names[i] ==  "fr_caster_r_wheel_joint")
                                {
                                                drive_joint_ang_rad[3] = msg->actual.positions[i]; 
                                                drive_joint_vel_rads[3] = msg->actual.velocities[i];
                                                //drive_joint_effort_NM[3] = msg->effort[i];
                                }
                                if(msg->joint_names[i] ==  "fl_caster_rotation_joint")
                                {
                                                steer_joint_ang_rad[0] = msg->actual.positions[i]; 
                                                steer_joint_vel_rads[0] = msg->actual.velocities[i];
                                                //steer_joint_effort_NM[0] = msg->effort[i];
                                }
                                if(msg->joint_names[i] ==  "bl_caster_rotation_joint")
                                { 
                                                steer_joint_ang_rad[1] = msg->actual.positions[i]; 
                                                steer_joint_vel_rads[1] = msg->actual.velocities[i];
                                                //steer_joint_effort_NM[1] = msg->effort[i];
                                }
                                if(msg->joint_names[i] ==  "br_caster_rotation_joint")
                                {
                                                steer_joint_ang_rad[2] = msg->actual.positions[i]; 
                                                steer_joint_vel_rads[2] = msg->actual.velocities[i];
                                                //steer_joint_effort_NM[2] = msg->effort[i];
                                }
                                if(msg->joint_names[i] ==  "fr_caster_rotation_joint")
                                {
                                                steer_joint_ang_rad[3] = msg->actual.positions[i]; 
                                                steer_joint_vel_rads[3] = msg->actual.velocities[i];
                                                //steer_joint_effort_NM[3] = msg->effort[i];
                                }
                        }

                        // Set measured Wheel Velocities and Angles to Controler Class (implements inverse kinematic)
                        ucar_ctrl_->SetActualWheelValues(drive_joint_vel_rads, steer_joint_vel_rads,
                                                                        drive_joint_ang_rad, steer_joint_ang_rad);


                        // calculate odometry every time
                        UpdateOdometry();
                        
                }
                
                void timerCallbackCtrlStep(const ros::TimerEvent& e) {
                        CalcCtrlStep();
                }
                
        // other function declarations
                // Initializes controller
        bool InitCtrl();
                // perform one control step, calculate inverse kinematics and publish updated joint cmd's (if no EMStop occurred)
                void CalcCtrlStep();
                // acquires the current undercarriage configuration from base_drive_chain
                // calculates odometry from current measurement values and publishes it via an odometry topic and the tf broadcaster
                void UpdateOdometry();
};

//#######################
//#### main programm ####
int main(int argc, char** argv)
{
    // initialize ROS, spezify name of node
    ros::init(argc, argv, "undercarriage_ctrl");
    
        // construct nodeClass
    NodeClass nodeClass;
        
        // automatically do initializing of controller, because it's not directly depending any hardware components
        nodeClass.ucar_ctrl_->InitUndercarriageCtrl();
        nodeClass.is_initialized_bool_ = true;
        
        if( nodeClass.is_initialized_bool_ ) {
                nodeClass.last_time_ = ros::Time::now();
                ROS_INFO("Undercarriage control successfully initialized.");
        } else {
                ROS_FATAL("Undercarriage control initialization failed!");
                throw std::runtime_error("Undercarriage control initialization failed, check ini-Files!");
        }
    
        /* 
        CALLBACKS being executed are:
                - actual motor values -> calculating direct kinematics and doing odometry (topicCallbackJointControllerStates)
                - timer callback -> calculate controller step at a rate of sample_time_ (timerCallbackCtrlStep)
                - other topic callbacks (diagnostics, command, em_stop_state)
        */
    ros::spin();

    return 0;
}

//##################################
//#### function implementations ####

// perform one control step, calculate inverse kinematics and publish updated joint cmd's (if no EMStop occurred)
void NodeClass::CalcCtrlStep()
{
        double vx_cmd_ms, vy_cmd_ms, w_cmd_rads, dummy;
        std::vector<double> drive_jointvel_cmds_rads, steer_jointvel_cmds_rads, steer_jointang_cmds_rad;
        pr2_controllers_msgs::JointTrajectoryControllerState joint_state_cmd;
        int j, k;
        iwatchdog_ += 1;        

        // if controller is initialized and underlying hardware is operating normal
        if (is_initialized_bool_) //&& (drive_chain_diagnostic_ != diagnostic_status_lookup_.OK))
        {
                // as soon as (but only as soon as) platform drive chain is initialized start to send velocity commands
                // Note: topicCallbackDiagnostic checks whether drives are operating nominal.
                //       -> if warning or errors are issued target velocity is set to zero

                // perform one control step,
                // get the resulting cmd's for the wheel velocities and -angles from the controller class
                // and output the achievable pltf velocity-cmds (if velocity limits where exceeded)
                ucar_ctrl_->GetNewCtrlStateSteerDriveSetValues(drive_jointvel_cmds_rads,  steer_jointvel_cmds_rads, steer_jointang_cmds_rad, vx_cmd_ms, vy_cmd_ms, w_cmd_rads, dummy);
                // ToDo: adapt interface of controller class --> remove last values (not used anymore)

                // if drives not operating nominal -> force commands to zero
                if(drive_chain_diagnostic_ != diagnostic_status_lookup_.OK)
                {
                        steer_jointang_cmds_rad.assign(m_iNumJoints, 0.0);
                        steer_jointvel_cmds_rads.assign(m_iNumJoints, 0.0);
                }

                // convert variables to SI-Units
                vx_cmd_ms = vx_cmd_ms/1000.0;
                vy_cmd_ms = vy_cmd_ms/1000.0;

                // compose jointcmds
                // compose header
                joint_state_cmd.header.stamp = ros::Time::now();
                //joint_state_cmd.header.frame_id = frame_id; //Where to get this id from?
                // ToDo: configure over Config-File (number of motors) and Msg
                // assign right size to JointState data containers
                //joint_state_cmd.set_name_size(m_iNumMotors);
                joint_state_cmd.desired.positions.resize(m_iNumJoints);
                joint_state_cmd.desired.velocities.resize(m_iNumJoints);            
                //joint_state_cmd.effort.resize(m_iNumJoints);
                joint_state_cmd.joint_names.push_back("fl_caster_r_wheel_joint");
                joint_state_cmd.joint_names.push_back("fl_caster_rotation_joint");
                joint_state_cmd.joint_names.push_back("bl_caster_r_wheel_joint");
                joint_state_cmd.joint_names.push_back("bl_caster_rotation_joint");
                joint_state_cmd.joint_names.push_back("br_caster_r_wheel_joint");
                joint_state_cmd.joint_names.push_back("br_caster_rotation_joint");
                joint_state_cmd.joint_names.push_back("fr_caster_r_wheel_joint");
                joint_state_cmd.joint_names.push_back("fr_caster_rotation_joint");

                // compose data body
                j = 0;
                k = 0;
                for(int i = 0; i<m_iNumJoints; i++)
                {
                        if(iwatchdog_ < 50)
                        {
                                // for steering motors
                                if( i == 1 || i == 3 || i == 5 || i == 7) // ToDo: specify this via the Msg
                                {
                                        joint_state_cmd.desired.positions[i] = steer_jointang_cmds_rad[j];
                                        joint_state_cmd.desired.velocities[i] = steer_jointvel_cmds_rads[j];
                                        //joint_state_cmd.effort[i] = 0.0;
                                        j = j + 1;
                                }
                                else
                                {
                                        joint_state_cmd.desired.positions[i] = 0.0;
                                        joint_state_cmd.desired.velocities[i] = drive_jointvel_cmds_rads[k];
                                        //joint_state_cmd.effort[i] = 0.0;
                                        k = k + 1;
                                }
                        }
                        else
                        {
                        joint_state_cmd.desired.positions[i] = 0.0;
                                joint_state_cmd.desired.velocities[i] = 0.0;
                                //joint_state_cmd.effort[i] = 0.0;
                        }
                }

                // publish jointcmds
                topic_pub_controller_joint_command_.publish(joint_state_cmd);
                }

}

// calculates odometry from current measurement values
// and publishes it via an odometry topic and the tf broadcaster
void NodeClass::UpdateOdometry()
{
        double vel_x_rob_ms, vel_y_rob_ms, vel_rob_ms, rot_rob_rads, delta_x_rob_m, delta_y_rob_m, delta_theta_rob_rad;
        double dummy1, dummy2;
        double dt;
        ros::Time current_time;

        // if drive chain already initialized process joint data
        //if (drive_chain_diagnostic_ != diagnostic_status_lookup_.OK)
        if (is_initialized_bool_)
        {
                // Get resulting Pltf Velocities from Ctrl-Class (result of forward kinematics)
                // !Careful! Controller internally calculates with mm instead of m
                // ToDo: change internal calculation to SI-Units
                // ToDo: last values are not used anymore --> remove from interface
                ucar_ctrl_->GetActualPltfVelocity(delta_x_rob_m, delta_y_rob_m, delta_theta_rob_rad, dummy1,
                                                                        vel_x_rob_ms, vel_y_rob_ms, rot_rob_rads, dummy2);
                
                // convert variables to SI-Units
                vel_x_rob_ms = vel_x_rob_ms/1000.0;
                vel_y_rob_ms = vel_y_rob_ms/1000.0;
                delta_x_rob_m = delta_x_rob_m/1000.0;
                delta_y_rob_m = delta_y_rob_m/1000.0;
                
                ROS_DEBUG("Odmonetry delta is: x=%f, y=%f, th=%f", delta_x_rob_m, delta_y_rob_m, rot_rob_rads);
        }
        else
        {
                // otherwise set data (velocity and pose-delta) to zero
                vel_x_rob_ms = 0.0;
                vel_y_rob_ms = 0.0;
                delta_x_rob_m = 0.0;
                delta_y_rob_m = 0.0;
        }

        // calc odometry (from startup)
        // get time since last odometry-measurement
        current_time = ros::Time::now();
        dt = current_time.toSec() - last_time_.toSec();
        last_time_ = current_time;
        vel_rob_ms = sqrt(vel_x_rob_ms*vel_x_rob_ms + vel_y_rob_ms*vel_y_rob_ms);

        // calculation from ROS odom publisher tutorial http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom, using now midpoint integration
        x_rob_m_ = x_rob_m_ + ((vel_x_rob_ms+vel_x_rob_last_)/2.0 * cos(theta_rob_rad_) - (vel_y_rob_ms+vel_y_rob_last_)/2.0 * sin(theta_rob_rad_)) * dt;
        y_rob_m_ = y_rob_m_ + ((vel_x_rob_ms+vel_x_rob_last_)/2.0 * sin(theta_rob_rad_) + (vel_y_rob_ms+vel_y_rob_last_)/2.0 * cos(theta_rob_rad_)) * dt;
        theta_rob_rad_ = theta_rob_rad_ + rot_rob_rads * dt;
        //theta_rob_rad_ = theta_rob_rad_ + (rot_rob_rads+vel_theta_rob_last_)/2.0 * dt;
        
        vel_x_rob_last_ = vel_x_rob_ms;
        vel_y_rob_last_ = vel_y_rob_ms;
        vel_theta_rob_last_ = rot_rob_rads;


        // format data for compatibility with tf-package and standard odometry msg
        // generate quaternion for rotation
        geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(theta_rob_rad_);

        // compose and publish transform for tf package
        geometry_msgs::TransformStamped odom_tf;
        // compose header
        odom_tf.header.stamp = joint_state_odom_stamp_;
        odom_tf.header.frame_id = "/odom_combined";
        odom_tf.child_frame_id = "/base_footprint";
        // compose data container
        odom_tf.transform.translation.x = x_rob_m_;
        odom_tf.transform.translation.y = y_rob_m_;
        odom_tf.transform.translation.z = 0.0;
        odom_tf.transform.rotation = odom_quat;

    // compose and publish odometry message as topic
    nav_msgs::Odometry odom_top;
        // compose header
    odom_top.header.stamp = joint_state_odom_stamp_;
    odom_top.header.frame_id = "/wheelodom";
    odom_top.child_frame_id = "/base_footprint";
    // compose pose of robot
    odom_top.pose.pose.position.x = x_rob_m_;
    odom_top.pose.pose.position.y = y_rob_m_;
    odom_top.pose.pose.position.z = 0.0;
    odom_top.pose.pose.orientation = odom_quat;
    for(int i = 0; i < 6; i++)
      odom_top.pose.covariance[i*6+i] = 0.1;

    // compose twist of robot
    odom_top.twist.twist.linear.x = vel_x_rob_ms;
    odom_top.twist.twist.linear.y = vel_y_rob_ms;
    odom_top.twist.twist.linear.z = 0.0;
    odom_top.twist.twist.angular.x = 0.0;
    odom_top.twist.twist.angular.y = 0.0;
    odom_top.twist.twist.angular.z = rot_rob_rads;
    for(int i = 0; i < 6; i++)
      odom_top.twist.covariance[6*i+i] = 0.1;

        // publish the transform (for debugging, conflicts with robot-pose-ekf)
        tf_broadcast_odometry_.sendTransform(odom_tf);
        
        // publish odometry msg
        topic_pub_odometry_.publish(odom_top);
}

---

cob_undercarriage_ctrl
Author(s): Christian Connette
autogenerated on Fri Mar 1 14:49:43 2013