ackermann_to_vesc.cpp

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// Copyright 2020 F1TENTH Foundation
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// -*- mode:c++; fill-column: 100; -*-

#include "vesc_ackermann/ackermann_to_vesc.h"

#include <cmath>
#include <sstream>
#include <string>

#include <std_msgs/Float64.h>

namespace vesc_ackermann
{

template <typename T>
inline bool getRequiredParam(const ros::NodeHandle& nh, const std::string& name, T* value);

AckermannToVesc::AckermannToVesc(ros::NodeHandle nh, ros::NodeHandle private_nh)
{
  // get conversion parameters
  if (!getRequiredParam(nh, "speed_to_erpm_gain", &speed_to_erpm_gain_))
    return;
  if (!getRequiredParam(nh, "speed_to_erpm_offset", &speed_to_erpm_offset_))
    return;
  if (!getRequiredParam(nh, "steering_angle_to_servo_gain", &steering_to_servo_gain_))
    return;
  if (!getRequiredParam(nh, "steering_angle_to_servo_offset", &steering_to_servo_offset_))
    return;

  // create publishers to vesc electric-RPM (speed) and servo commands
  erpm_pub_ = nh.advertise<std_msgs::Float64>("commands/motor/speed", 10);
  servo_pub_ = nh.advertise<std_msgs::Float64>("commands/servo/position", 10);

  // subscribe to ackermann topic
  ackermann_sub_ = nh.subscribe("ackermann_cmd", 10, &AckermannToVesc::ackermannCmdCallback, this);
}

typedef ackermann_msgs::AckermannDriveStamped::ConstPtr AckermannMsgPtr;
void AckermannToVesc::ackermannCmdCallback(const AckermannMsgPtr& cmd)
{
  // calc vesc electric RPM (speed)
  std_msgs::Float64::Ptr erpm_msg(new std_msgs::Float64);
  erpm_msg->data = speed_to_erpm_gain_ * cmd->drive.speed + speed_to_erpm_offset_;

  // calc steering angle (servo)
  std_msgs::Float64::Ptr servo_msg(new std_msgs::Float64);
  servo_msg->data = steering_to_servo_gain_ * cmd->drive.steering_angle + steering_to_servo_offset_;

  // publish
  if (ros::ok())
  {
    erpm_pub_.publish(erpm_msg);
    servo_pub_.publish(servo_msg);
  }
}

template <typename T>
inline bool getRequiredParam(const ros::NodeHandle& nh, const std::string& name, T* value)
{
  if (nh.getParam(name, *value))
    return true;

  ROS_FATAL("AckermannToVesc: Parameter %s is required.", name.c_str());
  return false;
}

}  // namespace vesc_ackermann