pr2_base_controller.h

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/*
 * Author: Sachin Chitta and Matthew Piccoli
 */
 
#include <ros/node_handle.h>
#include <realtime_tools/realtime_publisher.h>
#include <pr2_mechanism_controllers/BaseControllerState.h>
#include <robot_mechanism_controllers/joint_velocity_controller.h>
#include <pr2_mechanism_controllers/base_kinematics.h>
#include <geometry_msgs/Twist.h>
#include <angles/angles.h>
#include <boost/shared_ptr.hpp>
#include <boost/scoped_ptr.hpp>
#include <filters/transfer_function.hpp>
 
namespace controller
{
  class Pr2BaseController: public pr2_controller_interface::Controller
  {
    public:
      Pr2BaseController();
 
      ~Pr2BaseController();
 
      /*
       * \brief  The starting method is called by the realtime thread just before
       * the first call to update.  Overrides Controller.staring().
       * @return Successful start
       */
      void starting();
 
      bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
 
      /*
       * \brief callback function for setting the desired velocity using a topic
       * @param cmd_vel Velocity command of the base in m/s and rad/s
       */
      void setCommand(const geometry_msgs::Twist &cmd_vel);
 
      geometry_msgs::Twist getCommand();
 
      BaseKinematics base_kin_;
 
      pthread_mutex_t pr2_base_controller_lock_;
 
      void update();
 
      void setJointCommands();
 
      void setDesiredCasterSteer();
 
    private:
 
      ros::NodeHandle node_;
 
      ros::NodeHandle root_handle_;
 
      ros::Subscriber cmd_sub_;
 
      ros::Subscriber cmd_sub_deprecated_;
 
      double timeout_;
 
      bool new_cmd_available_;
 
      ros::Time last_time_;
 
      ros::Time cmd_received_timestamp_;
 
      geometry_msgs::Twist cmd_vel_t_;
 
      geometry_msgs::Twist cmd_vel_;
 
      geometry_msgs::Twist desired_vel_;
 
      geometry_msgs::Twist max_vel_;
 
      geometry_msgs::Twist max_accel_;
 
      double max_translational_velocity_;
 
      double max_rotational_velocity_;
 
      double kp_caster_steer_;
 
      double alpha_stall_;
 
      std::vector<boost::shared_ptr<JointVelocityController> > wheel_controller_;
 
      std::vector<boost::shared_ptr<JointVelocityController> > caster_controller_;
 
      boost::scoped_ptr<realtime_tools::RealtimePublisher<pr2_mechanism_controllers::BaseControllerState> > state_publisher_;
 
      void computeJointCommands(const double &dT);
 
      void updateJointControllers();
 
      void computeDesiredCasterSteer(const double &dT);
 
      void computeDesiredWheelSpeeds();
 
      void setDesiredWheelSpeeds();
 
      geometry_msgs::Twist interpolateCommand(const geometry_msgs::Twist &start, const geometry_msgs::Twist &end, const geometry_msgs::Twist &max_rate, const double &dT);
 
      void commandCallback(const geometry_msgs::TwistConstPtr& msg);
 
      geometry_msgs::Twist base_vel_msg_;
 
      double eps_;
 
      double cmd_vel_rot_eps_;
 
      double state_publish_time_,state_publish_rate_;
 
      ros::Time last_publish_time_;
 
      double cmd_vel_trans_eps_;
 
 
      void publishState(const ros::Time &current_time);
 
      bool publish_state_;
 
      std::vector<control_toolbox::Pid> caster_position_pid_;
 
      filters::MultiChannelTransferFunctionFilter<double> caster_vel_filter_;
      
      std::vector<double> filtered_velocity_;
  };
 
}