husky_controller.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 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 General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: ROS interface to a Position controller for a Differential drive Husky Robot
 * Author: Siddhant Ahuja (adapted from Daniel Hewlett)
 */

#ifndef DIFFDRIVE_PLUGIN_HH
#define DIFFDRIVE_PLUGIN_HH

#include <map>

#include <gazebo/Param.hh>
#include <gazebo/Controller.hh>
#include <gazebo/Model.hh>

// ROS 
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>

// Custom Callback Queue
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>

// Boost
#include <boost/thread.hpp>
#include <boost/bind.hpp>

namespace gazebo
{
        class Joint;
        class Entity;

        class DiffDrivePlugin : public Controller
        {
                public:
                        DiffDrivePlugin(Entity *parent);
                        virtual ~DiffDrivePlugin();     

                protected:
                        virtual void LoadChild(XMLConfigNode *node);
                        void SaveChild(std::string &prefix, std::ostream &stream);
                        virtual void InitChild();
                        void ResetChild();
                        virtual void UpdateChild();
                        virtual void FiniChild();

                private:
                        void write_position_data();
                        void publish_odometry();
                        void GetPositionCmd();

                        libgazebo::PositionIface *pos_iface_;
                        Model *parent_;
                        ParamT<float> *wheelSepP;
                        ParamT<float> *wheelDiamP;
                        ParamT<float> *torqueP;
                        float wheelSpeed[2];

                        // Simulation time of the last update
                        Time prevUpdateTime;

                        bool enableMotors;
                        float odomPose[3];
                        float odomVel[3];

                        Joint *joints[4];
                        PhysicsEngine *physicsEngine;
                        ParamT<std::string> *backLeftJointNameP;
                        ParamT<std::string> *backRightJointNameP;
                        ParamT<std::string> *frontLeftJointNameP;
                        ParamT<std::string> *frontRightJointNameP;

                        // ROS STUFF
                        ros::NodeHandle* rosnode_;
                        ros::Publisher pub_;
                        ros::Subscriber sub_;
                        tf::TransformBroadcaster *transform_broadcaster_;
                        nav_msgs::Odometry odom_;
                        std::string tf_prefix_;

                        boost::mutex lock;

                        ParamT<std::string> *robotNamespaceP;
                        std::string robotNamespace;

                        ParamT<std::string> *topicNameP;
                        std::string topicName;

                        // Custom Callback Queue
                        ros::CallbackQueue queue_;
                        boost::thread* callback_queue_thread_;
                        void QueueThread();

                        // DiffDrive stuff
                        void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg);

                        float x_;
                        float rot_;
                        bool alive_;
        };
}
#endif