joint_velocity_controller.h
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35 
36 #pragma once
37 
38 
62 #include <control_msgs/JointControllerState.h>
63 #include <control_toolbox/pid.h>
66 #include <memory>
68 #include <ros/node_handle.h>
69 #include <std_msgs/Float64.h>
70 
71 namespace effort_controllers
72 {
73 
74 class JointVelocityController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
75 {
76 public:
77 
80 
81  bool init(hardware_interface::EffortJointInterface *robot, const std::string &joint_name, const control_toolbox::Pid &pid);
82 
97 
103  void setCommand(double cmd);
104 
108  void getCommand(double & cmd);
109 
115  void starting(const ros::Time& time);
116 
120  void update(const ros::Time& time, const ros::Duration& period);
121 
125  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
126 
130  void getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup);
131 
135  void printDebug();
136 
140  void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup = false);
141 
145  std::string getJointName();
146 
148  double command_;
150 private:
154  std::unique_ptr<
156  control_msgs::JointControllerState> > controller_state_publisher_ ;
157 
159 
163  void setCommandCB(const std_msgs::Float64ConstPtr& msg);
164 };
165 
166 } // namespace
effort_controllers::JointVelocityController::command_
double command_
Definition: joint_velocity_controller.h:148
effort_controllers::JointVelocityController::starting
void starting(const ros::Time &time)
This is called from within the realtime thread just before the first call to update.
Definition: joint_velocity_controller.cpp:160
effort_controllers::JointVelocityController::JointVelocityController
JointVelocityController()
Definition: joint_velocity_controller.cpp:75
realtime_publisher.h
node_handle.h
effort_controllers::JointVelocityController::setCommandCB
void setCommandCB(const std_msgs::Float64ConstPtr &msg)
Callback from /command subscriber for setpoint.
Definition: joint_velocity_controller.cpp:203
effort_controllers::JointVelocityController::loop_count_
int loop_count_
Definition: joint_velocity_controller.h:151
effort_controllers::JointVelocityController::update
void update(const ros::Time &time, const ros::Duration &period)
Issues commands to the joint. Should be called at regular intervals.
Definition: joint_velocity_controller.cpp:166
effort_controllers::JointVelocityController::~JointVelocityController
~JointVelocityController()
Definition: joint_velocity_controller.cpp:79
effort_controllers
Definition: joint_effort_controller.h:42
effort_controllers::JointVelocityController::getJointName
std::string getJointName()
Get the name of the joint this controller uses.
Definition: joint_velocity_controller.cpp:143
controller_interface::Controller
effort_controllers::JointVelocityController::controller_state_publisher_
std::unique_ptr< realtime_tools::RealtimePublisher< control_msgs::JointControllerState > > controller_state_publisher_
Definition: joint_velocity_controller.h:156
effort_controllers::JointVelocityController::printDebug
void printDebug()
Print debug info to console.
Definition: joint_velocity_controller.cpp:138
effort_controllers::JointVelocityController::getCommand
void getCommand(double &cmd)
Get latest velocity command to the joint: revolute (angle) and prismatic (velocity).
Definition: joint_velocity_controller.cpp:155
realtime_tools::RealtimePublisher
effort_controllers::JointVelocityController
Joint Velocity Controller.
Definition: joint_velocity_controller.h:74
controller.h
joint_command_interface.h
effort_controllers::JointVelocityController::setGains
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.
Definition: joint_velocity_controller.cpp:122
hardware_interface::EffortJointInterface
d
d
effort_controllers::JointVelocityController::setCommand
void setCommand(double cmd)
Give set velocity of the joint for next update: revolute (angle) and prismatic (velocity)
Definition: joint_velocity_controller.cpp:149
effort_controllers::JointVelocityController::pid_controller_
control_toolbox::Pid pid_controller_
Definition: joint_velocity_controller.h:152
effort_controllers::JointVelocityController::init
bool init(hardware_interface::EffortJointInterface *robot, const std::string &joint_name, const control_toolbox::Pid &pid)
Definition: joint_velocity_controller.cpp:84
hardware_interface::JointHandle
effort_controllers::JointVelocityController::getGains
void getGains(double &p, double &i, double &d, double &i_max, double &i_min)
Get the PID parameters.
Definition: joint_velocity_controller.cpp:132
ros::Time
control_toolbox::Pid
effort_controllers::JointVelocityController::sub_command_
ros::Subscriber sub_command_
Definition: joint_velocity_controller.h:158
pid.h
cmd
string cmd
ros::Duration
effort_controllers::JointVelocityController::joint_
hardware_interface::JointHandle joint_
Definition: joint_velocity_controller.h:147
ros::NodeHandle
ros::Subscriber


effort_controllers
Author(s): Vijay Pradeep
autogenerated on Fri May 24 2024 02:41:22