tricycle_controller::TricycleController Class Reference

Inheritance diagram for tricycle_controller::TricycleController:

Collaboration diagram for tricycle_controller::TricycleController:

Classes
struct	OdometryParams
struct	SteeringHandle
struct	TractionHandle
struct	WheelParams

Public Member Functions
TRICYCLE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
TRICYCLE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
TRICYCLE_CONTROLLER_PUBLIC controller_interface::return_type	update () override
TRICYCLE_CONTROLLER_PUBLIC controller_interface::return_type	init (const std::string &controller_name) override
TRICYCLE_CONTROLLER_PUBLIC CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
TRICYCLE_CONTROLLER_PUBLIC CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
TRICYCLE_CONTROLLER_PUBLIC CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
TRICYCLE_CONTROLLER_PUBLIC CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override
TRICYCLE_CONTROLLER_PUBLIC CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override
TRICYCLE_CONTROLLER_PUBLIC CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &previous_state) override
Public Member Functions inherited from controller_interface::ControllerInterface
CONTROLLER_INTERFACE_PUBLIC void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)
CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()
virtual CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name, rclcpp::NodeOptions &node_options)
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp::Node >	get_node ()
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	cleanup ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	deactivate ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	activate ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	shutdown ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_current_state () const

Protected Member Functions
CallbackReturn	get_traction (const std::string &traction_joint_name, std::vector< TractionHandle > &joint)
CallbackReturn	get_steering (const std::string &steering_joint_name, std::vector< SteeringHandle > &joint)
double	convert_trans_rot_vel_to_steering_angle (double v, double omega, double wheelbase)
std::tuple< double, double >	twist_to_ackermann (double linear_command, double angular_command)
void	reset_odometry (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< std_srvs::srv::Empty::Request > req, std::shared_ptr< std_srvs::srv::Empty::Response > res)
bool	reset ()
void	halt ()

Protected Attributes
std::string	traction_joint_name_
std::string	steering_joint_name_
std::vector< TractionHandle >	traction_joint_
std::vector< SteeringHandle >	steering_joint_
struct tricycle_controller::TricycleController::WheelParams	wheel_params_
struct tricycle_controller::TricycleController::OdometryParams	odom_params_
bool	publish_ackermann_command_ = false
std::shared_ptr< rclcpp::Publisher< AckermannDrive > >	ackermann_command_publisher_ = nullptr
std::shared_ptr< realtime_tools::RealtimePublisher< AckermannDrive > >	realtime_ackermann_command_publisher_ = nullptr
Odometry	odometry_
std::shared_ptr< rclcpp::Publisher< nav_msgs::msg::Odometry > >	odometry_publisher_ = nullptr
std::shared_ptr< realtime_tools::RealtimePublisher< nav_msgs::msg::Odometry > >	realtime_odometry_publisher_ = nullptr
std::shared_ptr< rclcpp::Publisher< tf2_msgs::msg::TFMessage > >	odometry_transform_publisher_
std::shared_ptr< realtime_tools::RealtimePublisher< tf2_msgs::msg::TFMessage > >	realtime_odometry_transform_publisher_ = nullptr
std::chrono::milliseconds	cmd_vel_timeout_ {500}
bool	subscriber_is_active_ = false
rclcpp::Subscription< TwistStamped >::SharedPtr	velocity_command_subscriber_ = nullptr
rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	velocity_command_unstamped_subscriber_ = nullptr
realtime_tools::RealtimeBox< std::shared_ptr< TwistStamped > >	received_velocity_msg_ptr_ {nullptr}
rclcpp::Service< std_srvs::srv::Empty >::SharedPtr	reset_odom_service_
std::queue< AckermannDrive >	previous_commands_
TractionLimiter	limiter_traction_
SteeringLimiter	limiter_steering_
rclcpp::Time	previous_update_timestamp_ {0}
double	publish_rate_ = 50.0
rclcpp::Duration	publish_period_ {0, 0}
rclcpp::Time	previous_publish_timestamp_ {0}
bool	is_halted = false
bool	use_stamped_vel_ = true
Protected Attributes inherited from controller_interface::ControllerInterface
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_
std::shared_ptr< rclcpp::Node >	node_
rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

command_interface_configuration()

InterfaceConfiguration tricycle_controller::TricycleController::command_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

init()

controller_interface::return_type tricycle_controller::TricycleController::init ( const std::string &  controller_name )

overridevirtual

Reimplemented from controller_interface::ControllerInterface.

state_interface_configuration()

InterfaceConfiguration tricycle_controller::TricycleController::state_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

update()

controller_interface::return_type tricycle_controller::TricycleController::update ( )

overridevirtual

Implements controller_interface::ControllerInterface.

Member Data Documentation

odometry_transform_publisher_

std::shared_ptr<rclcpp::Publisher<tf2_msgs::msg::TFMessage> > tricycle_controller::TricycleController::odometry_transform_publisher_

protected

Initial value:

=
    nullptr

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

• ros2_controllers/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
• ros2_controllers/tricycle_controller/src/tricycle_controller.cpp