control_loop.h

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//
// Created by qiayuan on 12/30/20.
//
 
#pragma once
 
#include "rm_hw/hardware_interface/hardware_interface.h"
 
#include <chrono>
#include <thread>
 
#include <ros/ros.h>
#include <controller_manager/controller_manager.h>
 
namespace rm_hw
{
using namespace std::chrono;
using clock = high_resolution_clock;
 
class RmRobotHWLoop
{
public:
  RmRobotHWLoop(ros::NodeHandle& nh, std::shared_ptr<RmRobotHW> hardware_interface);
 
  ~RmRobotHWLoop();
  void update();
 
private:
  // Startup and shutdown of the internal node inside a roscpp program
  ros::NodeHandle nh_;
 
  // Settings
  double cycle_time_error_threshold_{};
 
  // Timing
  std::thread loop_thread_;
  std::atomic_bool loop_running_;
  double loop_hz_{};
  ros::Duration elapsed_time_;
  clock::time_point last_time_;
 
  std::shared_ptr<controller_manager::ControllerManager> controller_manager_;
 
  // Abstract Hardware Interface for your robot
  std::shared_ptr<RmRobotHW> hardware_interface_;
};
}  // namespace rm_hw