joint_position_controller.h

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/*
 Author: Dave Coleman
 Contributors: Jonathan Bohren, Wim Meeussen, Vijay Pradeep
 Desc: Velocity-based position controller using basic PID loop
*/
 
#pragma once
 
 
#include <control_msgs/JointControllerState.h>
#include <control_msgs/JointControllerState.h>
#include <control_toolbox/pid.h>
#include <controller_interface/controller.h>
#include <hardware_interface/joint_command_interface.h>
#include <memory>
#include <realtime_tools/realtime_buffer.h>
#include <realtime_tools/realtime_publisher.h>
#include <ros/node_handle.h>
#include <std_msgs/Float64.h>
#include <urdf/model.h>
 
namespace velocity_controllers
{
 
class JointPositionController: public controller_interface::Controller<hardware_interface::VelocityJointInterface>
{
public:
 
  struct Commands
  {
    double position_; // Last commanded position
    double velocity_; // Last commanded velocity
    bool has_velocity_; // false if no velocity command has been specified
  };
 
  JointPositionController();
  ~JointPositionController();
 
  bool init(hardware_interface::VelocityJointInterface *robot, ros::NodeHandle &n);
 
  void setCommand(double pos_target);
 
  void setCommand(double pos_target, double vel_target);
 
  void starting(const ros::Time& time);
 
  void update(const ros::Time& time, const ros::Duration& period);
 
  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
 
  void getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup);
 
  void printDebug();
 
  void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup = false);
 
  std::string getJointName();
 
  double getPosition();
 
  hardware_interface::JointHandle joint_;
  urdf::JointConstSharedPtr joint_urdf_;
  realtime_tools::RealtimeBuffer<Commands> command_;
  Commands command_struct_; // pre-allocated memory that is re-used to set the realtime buffer
 
private:
  int loop_count_;
  control_toolbox::Pid pid_controller_;       
  std::unique_ptr<
    realtime_tools::RealtimePublisher<
      control_msgs::JointControllerState> > controller_state_publisher_ ;
 
  ros::Subscriber sub_command_;
 
  void setCommandCB(const std_msgs::Float64ConstPtr& msg);
 
  void enforceJointLimits(double &command);
 
};
 
} // namespace