#include <four_wheel_steering_controller.h>

Inheritance diagram for four_wheel_steering_controller::FourWheelSteeringController:

Classes
struct	Command
	Velocity command related: More...

struct	Command4ws

struct	CommandTwist

Public Member Functions
	FourWheelSteeringController ()

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::VelocityJointInterface, hardware_interface::PositionJointInterface >
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	cmdFourWheelSteeringCallback (const four_wheel_steering_msgs::FourWheelSteering &command)
	Velocity and steering command callback. More...

void	cmdVelCallback (const geometry_msgs::Twist &command)
	Velocity command callback. More...

bool	getWheelNames (ros::NodeHandle &controller_nh, const std::string &wheel_param, std::vector< std::string > &wheel_names)
	Get the wheel names from a wheel param. More...

void	setOdomPubFields (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
	Sets the odometry publishing fields. More...

void	updateCommand (const ros::Time &time, const ros::Duration &period)
	Compute and publish command. More...

void	updateOdometry (const ros::Time &time)
	Update and publish odometry. More...

Private Attributes
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< Command4ws >	command_four_wheel_steering_
	FourWheelSteering command related: More...

Command4ws	command_struct_four_wheel_steering_

CommandTwist	command_struct_twist_

realtime_tools::RealtimeBuffer< CommandTwist >	command_twist_

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

bool	enable_twist_cmd_
	Whether the control is make with four_wheel_steering msg or twist msg: More...

std::vector< hardware_interface::JointHandle >	front_steering_joints_

std::vector< hardware_interface::JointHandle >	front_wheel_joints_
	Hardware handles: More...

CommandTwist	last0_cmd_

CommandTwist	last1_cmd_
	Speed limiters: More...

ros::Time	last_state_publish_time_

SpeedLimiter	limiter_ang_

SpeedLimiter	limiter_lin_

std::string	name_

std::shared_ptr< realtime_tools::RealtimePublisher< four_wheel_steering_msgs::FourWheelSteeringStamped > >	odom_4ws_pub_

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...

std::vector< hardware_interface::JointHandle >	rear_steering_joints_

std::vector< hardware_interface::JointHandle >	rear_wheel_joints_

ros::Subscriber	sub_command_

ros::Subscriber	sub_command_four_wheel_steering_

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

double	track_
	Wheel separation (or track), distance between left and right wheels (from the midpoint of the wheel width): More...

double	wheel_base_
	Wheel base (distance between front and rear wheel): More...

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

double	wheel_steering_y_offset_

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::VelocityJointInterface, hardware_interface::PositionJointInterface >
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::VelocityJointInterface, hardware_interface::PositionJointInterface >
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::VelocityJointInterface, hardware_interface::PositionJointInterface >
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 four_wheel_steering_controller.h.

Constructor & Destructor Documentation

◆ FourWheelSteeringController()

four_wheel_steering_controller::FourWheelSteeringController::FourWheelSteeringController ( )

Definition at line 77 of file four_wheel_steering_controller.cpp.

Member Function Documentation

◆ brake()

void four_wheel_steering_controller::FourWheelSteeringController::brake ( )

private

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

Definition at line 532 of file four_wheel_steering_controller.cpp.

◆ cmdFourWheelSteeringCallback()

void four_wheel_steering_controller::FourWheelSteeringController::cmdFourWheelSteeringCallback ( const four_wheel_steering_msgs::FourWheelSteering & command )

private

Velocity and steering command callback.

Parameters

command Velocity and steering command message (4ws)

Definition at line 576 of file four_wheel_steering_controller.cpp.

◆ cmdVelCallback()

void four_wheel_steering_controller::FourWheelSteeringController::cmdVelCallback ( const geometry_msgs::Twist & command )

private

Velocity command callback.

Parameters

command Velocity command message (twist)

Definition at line 549 of file four_wheel_steering_controller.cpp.

◆ getWheelNames()

bool four_wheel_steering_controller::FourWheelSteeringController::getWheelNames	(	ros::NodeHandle &	controller_nh,
		const std::string &	wheel_param,
		std::vector< std::string > &	wheel_names
	)

private

Get the wheel names from a wheel param.

Parameters

[in]	controller_nh	Controller node handler
[in]	wheel_param	Param name
[out]	wheel_names	Vector with the whel names

Returns: true if the wheel_param is available and the wheel_names are retrieved successfully from the param server; false otherwise

Definition at line 604 of file four_wheel_steering_controller.cpp.

◆ init()

bool four_wheel_steering_controller::FourWheelSteeringController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

virtual

Initialize controller.

Parameters

robot_hw	Velocity and position 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::VelocityJointInterface, hardware_interface::PositionJointInterface >.

Definition at line 91 of file four_wheel_steering_controller.cpp.

◆ setOdomPubFields()

void four_wheel_steering_controller::FourWheelSteeringController::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 657 of file four_wheel_steering_controller.cpp.

◆ starting()

void four_wheel_steering_controller::FourWheelSteeringController::starting ( const ros::Time & time )

virtual

Starts controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 271 of file four_wheel_steering_controller.cpp.

◆ stopping()

void four_wheel_steering_controller::FourWheelSteeringController::stopping ( const ros::Time & )

virtual

Stops controller.

Parameters

time	Current time

Reimplemented from controller_interface::ControllerBase.

Definition at line 281 of file four_wheel_steering_controller.cpp.

◆ update()

void four_wheel_steering_controller::FourWheelSteeringController::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 265 of file four_wheel_steering_controller.cpp.

◆ updateCommand()

void four_wheel_steering_controller::FourWheelSteeringController::updateCommand	(	const ros::Time &	time,
		const ros::Duration &	period
	)

private

Compute and publish command.

Parameters

time	Current time
period	Time since the last called to update

TODO check limits to not apply the same steering on right and left when saturated !

Definition at line 368 of file four_wheel_steering_controller.cpp.

◆ updateOdometry()

void four_wheel_steering_controller::FourWheelSteeringController::updateOdometry ( const ros::Time & time )

private

Update and publish odometry.

Parameters

time	Current time

Definition at line 286 of file four_wheel_steering_controller.cpp.

Member Data Documentation

◆ base_frame_id_

std::string four_wheel_steering_controller::FourWheelSteeringController::base_frame_id_

private

Frame to use for the robot base:

Definition at line 233 of file four_wheel_steering_controller.h.

◆ cmd_vel_timeout_

double four_wheel_steering_controller::FourWheelSteeringController::cmd_vel_timeout_

private

Timeout to consider cmd_vel commands old:

Definition at line 230 of file four_wheel_steering_controller.h.

◆ command_four_wheel_steering_

realtime_tools::RealtimeBuffer<Command4ws> four_wheel_steering_controller::FourWheelSteeringController::command_four_wheel_steering_

private

FourWheelSteering command related:

Definition at line 207 of file four_wheel_steering_controller.h.

◆ command_struct_four_wheel_steering_

Command4ws four_wheel_steering_controller::FourWheelSteeringController::command_struct_four_wheel_steering_

private

Definition at line 208 of file four_wheel_steering_controller.h.

◆ command_struct_twist_

CommandTwist four_wheel_steering_controller::FourWheelSteeringController::command_struct_twist_

private

Definition at line 203 of file four_wheel_steering_controller.h.

◆ command_twist_

realtime_tools::RealtimeBuffer<CommandTwist> four_wheel_steering_controller::FourWheelSteeringController::command_twist_

private

Definition at line 202 of file four_wheel_steering_controller.h.

◆ enable_odom_tf_

bool four_wheel_steering_controller::FourWheelSteeringController::enable_odom_tf_

private

Whether to publish odometry to tf or not:

Definition at line 236 of file four_wheel_steering_controller.h.

◆ enable_twist_cmd_

bool four_wheel_steering_controller::FourWheelSteeringController::enable_twist_cmd_

private

Whether the control is make with four_wheel_steering msg or twist msg:

Definition at line 239 of file four_wheel_steering_controller.h.

◆ front_steering_joints_

std::vector<hardware_interface::JointHandle> four_wheel_steering_controller::FourWheelSteeringController::front_steering_joints_

private

Definition at line 176 of file four_wheel_steering_controller.h.

◆ front_wheel_joints_

std::vector<hardware_interface::JointHandle> four_wheel_steering_controller::FourWheelSteeringController::front_wheel_joints_

private

Hardware handles:

Definition at line 174 of file four_wheel_steering_controller.h.

◆ last0_cmd_

CommandTwist four_wheel_steering_controller::FourWheelSteeringController::last0_cmd_

private

Definition at line 243 of file four_wheel_steering_controller.h.

◆ last1_cmd_

CommandTwist four_wheel_steering_controller::FourWheelSteeringController::last1_cmd_

private

Speed limiters:

Definition at line 242 of file four_wheel_steering_controller.h.

◆ last_state_publish_time_

ros::Time four_wheel_steering_controller::FourWheelSteeringController::last_state_publish_time_

private

Definition at line 170 of file four_wheel_steering_controller.h.

◆ limiter_ang_

SpeedLimiter four_wheel_steering_controller::FourWheelSteeringController::limiter_ang_

private

Definition at line 245 of file four_wheel_steering_controller.h.

◆ limiter_lin_

SpeedLimiter four_wheel_steering_controller::FourWheelSteeringController::limiter_lin_

private

Definition at line 244 of file four_wheel_steering_controller.h.

◆ name_

std::string four_wheel_steering_controller::FourWheelSteeringController::name_

private

Definition at line 166 of file four_wheel_steering_controller.h.

◆ odom_4ws_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<four_wheel_steering_msgs::FourWheelSteeringStamped> > four_wheel_steering_controller::FourWheelSteeringController::odom_4ws_pub_

private

Definition at line 213 of file four_wheel_steering_controller.h.

◆ odom_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Odometry> > four_wheel_steering_controller::FourWheelSteeringController::odom_pub_

private

Odometry related:

Definition at line 212 of file four_wheel_steering_controller.h.

◆ odometry_

Odometry four_wheel_steering_controller::FourWheelSteeringController::odometry_

private

Definition at line 215 of file four_wheel_steering_controller.h.

◆ open_loop_

bool four_wheel_steering_controller::FourWheelSteeringController::open_loop_

private

Definition at line 171 of file four_wheel_steering_controller.h.

◆ publish_period_

ros::Duration four_wheel_steering_controller::FourWheelSteeringController::publish_period_

private

Odometry related:

Definition at line 169 of file four_wheel_steering_controller.h.

◆ rear_steering_joints_

std::vector<hardware_interface::JointHandle> four_wheel_steering_controller::FourWheelSteeringController::rear_steering_joints_

private

Definition at line 177 of file four_wheel_steering_controller.h.

◆ rear_wheel_joints_

std::vector<hardware_interface::JointHandle> four_wheel_steering_controller::FourWheelSteeringController::rear_wheel_joints_

private

Definition at line 175 of file four_wheel_steering_controller.h.

◆ sub_command_

ros::Subscriber four_wheel_steering_controller::FourWheelSteeringController::sub_command_

private

Definition at line 204 of file four_wheel_steering_controller.h.

◆ sub_command_four_wheel_steering_

ros::Subscriber four_wheel_steering_controller::FourWheelSteeringController::sub_command_four_wheel_steering_

private

Definition at line 209 of file four_wheel_steering_controller.h.

◆ tf_odom_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<tf::tfMessage> > four_wheel_steering_controller::FourWheelSteeringController::tf_odom_pub_

private

Definition at line 214 of file four_wheel_steering_controller.h.

◆ track_

double four_wheel_steering_controller::FourWheelSteeringController::track_

private

Wheel separation (or track), distance between left and right wheels (from the midpoint of the wheel width):

Definition at line 218 of file four_wheel_steering_controller.h.

◆ wheel_base_

double four_wheel_steering_controller::FourWheelSteeringController::wheel_base_

private

Wheel base (distance between front and rear wheel):

Definition at line 227 of file four_wheel_steering_controller.h.

◆ wheel_radius_

double four_wheel_steering_controller::FourWheelSteeringController::wheel_radius_

private

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

Definition at line 224 of file four_wheel_steering_controller.h.

◆ wheel_steering_y_offset_

double four_wheel_steering_controller::FourWheelSteeringController::wheel_steering_y_offset_

private

Distance between a wheel joint (from the midpoint of the wheel width) and the associated steering joint: We consider that the distance is the same for every wheel

Definition at line 221 of file four_wheel_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

◆ FourWheelSteeringController()

Member Function Documentation

◆ brake()

◆ cmdFourWheelSteeringCallback()

◆ cmdVelCallback()

◆ getWheelNames()

◆ init()

◆ setOdomPubFields()

◆ starting()

◆ stopping()

◆ update()

◆ updateCommand()

◆ updateOdometry()

Member Data Documentation

◆ base_frame_id_

◆ cmd_vel_timeout_

◆ command_four_wheel_steering_

◆ command_struct_four_wheel_steering_

◆ command_struct_twist_

◆ command_twist_

◆ enable_odom_tf_

◆ enable_twist_cmd_

◆ front_steering_joints_

◆ front_wheel_joints_

◆ last0_cmd_

◆ last1_cmd_

◆ last_state_publish_time_

◆ limiter_ang_

◆ limiter_lin_

◆ name_

◆ odom_4ws_pub_

◆ odom_pub_

◆ odometry_

◆ open_loop_

◆ publish_period_

◆ rear_steering_joints_

◆ rear_wheel_joints_

◆ sub_command_

◆ sub_command_four_wheel_steering_

◆ tf_odom_pub_

◆ track_

◆ wheel_base_

◆ wheel_radius_

◆ wheel_steering_y_offset_