#include <controller_node.h>

Inheritance diagram for velocity_controller::ControllerNode:

Public Member Functions
	ControllerNode (ros::NodeHandle &n)
	Construct a new Controller Node object. More...

	ControllerNode (ros::NodeHandle &n)
	Construct a new Controller Node object. More...

Public Member Functions inherited from velocity_controller::Controller
	Controller ()
	Construct a new Controller object. More...

int	getGoodId ()

int	getOrderId ()

int	getOrderStatus ()

size_t	getProgress ()
	return progress, More...

void	getSpeed (float _v, float _w)
	Returns the current speed values. More...

int	getStatus ()

bool	isActive ()
	return progress, passed waypoints on the given path More...

void	setGoalRadius (float _r)
	Set the Goal Radius. More...

void	setGoodId (int)

void	setOrderId (int)

void	setOrderStatus (int)

void	setPath (std::shared_ptr< std::vector< PathPoint >> _path)
	Set the path the contorler has to follow. More...

void	setPID (float _Kp, float _Ki, float _Kd)
	sets the control parameters More...

void	setSpeedParams (float _max_v, float _max_w)
	Set the Speed Params of the controller. More...

void	setState (state s)
	Set the State (run stop step wait_step) More...

void	update (PathPoint _odom, float _delta_t)
	updates the controller with the current robot position More...

Public Attributes
ros::NodeHandle	n_
	Node handler to the root node. More...

ros::NodeHandle	n_param_
	Node handler to the current node. More...

std::unique_ptr< ros::Rate >	rate_

Private Member Functions
void	onCommandReceived (const std_msgs::String command)

void	onGoalReceived (const tuw_local_controller_msgs::ExecutePathGoalConstPtr &goal)

void	onPoseReceived (const geometry_msgs::PoseWithCovarianceStampedConstPtr &pose)

void	publishControllerState (const nav_msgs::Path &path)

void	publishState ()

void	setupController (const nav_msgs::Path &path, const ControllerConfig &config)

void	subCtrlCb (const std_msgs::String _cmd)

void	subPathCb (const nav_msgs::Path::ConstPtr &_path)

void	subPoseCb (const geometry_msgs::PoseWithCovarianceStampedConstPtr &_pose)

Private Attributes
actionlib::SimpleActionServer< tuw_local_controller_msgs::ExecutePathAction >	action_server

geometry_msgs::Twist	cmd_

ros::Subscriber	command_subscriber

tuw_nav_msgs::ControllerState	ctrl_state_

float	goal_r_

float	Kd_val_

float	Ki_val_

float	Kp_val_

ros::Time	last_update_

float	max_vel_v_

float	max_vel_w_

ros::Subscriber	pose_subscriber

ros::Publisher	pubCmdVel_

ros::Publisher	pubState_

ros::Publisher	state_publisher

ros::Subscriber	subCtrl_

ros::Subscriber	subPath_

ros::Subscriber	subPose_

ros::Publisher	twist_publisher

Additional Inherited Members
Protected Attributes inherited from velocity_controller::Controller
PathPoint	current_pose_

Detailed Description

Definition at line 16 of file controller_node.h.

Constructor & Destructor Documentation

◆ ControllerNode() [1/2]

velocity_controller::ControllerNode::ControllerNode ( ros::NodeHandle & n )

Construct a new Controller Node object.

Parameters

n	the node handle to subscribe topics

Definition at line 26 of file controller_node.cpp.

◆ ControllerNode() [2/2]

velocity_controller::ControllerNode::ControllerNode ( ros::NodeHandle & n )

Construct a new Controller Node object.

Parameters

n	the node handle to subscribe topics

Member Function Documentation

◆ onCommandReceived()

void velocity_controller::ControllerNode::onCommandReceived ( const std_msgs::String command )

private

Definition at line 77 of file local_controller_node.cpp.

◆ onGoalReceived()

void velocity_controller::ControllerNode::onGoalReceived ( const tuw_local_controller_msgs::ExecutePathGoalConstPtr & goal )

private

Definition at line 92 of file local_controller_node.cpp.

◆ onPoseReceived()

void velocity_controller::ControllerNode::onPoseReceived ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & pose )

private

Definition at line 36 of file local_controller_node.cpp.

◆ publishControllerState()

void velocity_controller::ControllerNode::publishControllerState ( const nav_msgs::Path & path )

private

Definition at line 63 of file local_controller_node.cpp.

◆ publishState()

void velocity_controller::ControllerNode::publishState ( )

private

Definition at line 98 of file controller_node.cpp.

◆ setupController()

void velocity_controller::ControllerNode::setupController	(	const nav_msgs::Path &	path,
		const ControllerConfig &	config
	)

private

Definition at line 141 of file local_controller_node.cpp.

◆ subCtrlCb()

void velocity_controller::ControllerNode::subCtrlCb ( const std_msgs::String _cmd )

private

Definition at line 163 of file controller_node.cpp.

◆ subPathCb()

void velocity_controller::ControllerNode::subPathCb ( const nav_msgs::Path::ConstPtr & _path )

private

Definition at line 109 of file controller_node.cpp.

◆ subPoseCb()

void velocity_controller::ControllerNode::subPoseCb ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & _pose )

private

Definition at line 68 of file controller_node.cpp.

Member Data Documentation

◆ action_server

actionlib::SimpleActionServer<tuw_local_controller_msgs::ExecutePathAction> velocity_controller::ControllerNode::action_server

private

Definition at line 50 of file local_controller_node.h.

◆ cmd_

geometry_msgs::Twist velocity_controller::ControllerNode::cmd_

private

Definition at line 49 of file controller_node.h.

◆ command_subscriber

ros::Subscriber velocity_controller::ControllerNode::command_subscriber

private

Definition at line 48 of file local_controller_node.h.

◆ ctrl_state_

tuw_nav_msgs::ControllerState velocity_controller::ControllerNode::ctrl_state_

private

Definition at line 50 of file controller_node.h.

◆ goal_r_

float velocity_controller::ControllerNode::goal_r_

private

Definition at line 39 of file controller_node.h.

◆ Kd_val_

float velocity_controller::ControllerNode::Kd_val_

private

Definition at line 42 of file controller_node.h.

◆ Ki_val_

float velocity_controller::ControllerNode::Ki_val_

private

Definition at line 41 of file controller_node.h.

◆ Kp_val_

float velocity_controller::ControllerNode::Kp_val_

private

Definition at line 40 of file controller_node.h.

◆ last_update_

ros::Time velocity_controller::ControllerNode::last_update_

private

Definition at line 43 of file controller_node.h.

◆ max_vel_v_

float velocity_controller::ControllerNode::max_vel_v_

private

Definition at line 37 of file controller_node.h.

◆ max_vel_w_

float velocity_controller::ControllerNode::max_vel_w_

private

Definition at line 38 of file controller_node.h.

◆ n_

ros::NodeHandle velocity_controller::ControllerNode::n_

Node handler to the root node.

Definition at line 27 of file controller_node.h.

◆ n_param_

ros::NodeHandle velocity_controller::ControllerNode::n_param_

Node handler to the current node.

Definition at line 28 of file controller_node.h.

◆ pose_subscriber

ros::Subscriber velocity_controller::ControllerNode::pose_subscriber

private

Definition at line 47 of file local_controller_node.h.

◆ pubCmdVel_

ros::Publisher velocity_controller::ControllerNode::pubCmdVel_

private

Definition at line 32 of file controller_node.h.

◆ pubState_

ros::Publisher velocity_controller::ControllerNode::pubState_

private

Definition at line 33 of file controller_node.h.

◆ rate_

std::unique_ptr< ros::Rate > velocity_controller::ControllerNode::rate_

Definition at line 29 of file controller_node.h.

◆ state_publisher

ros::Publisher velocity_controller::ControllerNode::state_publisher

private

Definition at line 46 of file local_controller_node.h.

◆ subCtrl_

ros::Subscriber velocity_controller::ControllerNode::subCtrl_

private

Definition at line 36 of file controller_node.h.

◆ subPath_

ros::Subscriber velocity_controller::ControllerNode::subPath_

private

Definition at line 35 of file controller_node.h.

◆ subPose_

ros::Subscriber velocity_controller::ControllerNode::subPose_

private

Definition at line 34 of file controller_node.h.

◆ twist_publisher

ros::Publisher velocity_controller::ControllerNode::twist_publisher

private

Definition at line 45 of file local_controller_node.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ControllerNode() [1/2]

◆ ControllerNode() [2/2]

Member Function Documentation

◆ onCommandReceived()

◆ onGoalReceived()

◆ onPoseReceived()

◆ publishControllerState()

◆ publishState()

◆ setupController()

◆ subCtrlCb()

◆ subPathCb()

◆ subPoseCb()

Member Data Documentation

◆ action_server

◆ cmd_

◆ command_subscriber

◆ ctrl_state_

◆ goal_r_

◆ Kd_val_

◆ Ki_val_

◆ Kp_val_

◆ last_update_

◆ max_vel_v_

◆ max_vel_w_

◆ n_

◆ n_param_

◆ pose_subscriber

◆ pubCmdVel_

◆ pubState_

◆ rate_

◆ state_publisher

◆ subCtrl_

◆ subPath_

◆ subPose_

◆ twist_publisher