diff_drive_controller::DiffDriveController Class Reference

Inheritance diagram for diff_drive_controller::DiffDriveController:

Collaboration diagram for diff_drive_controller::DiffDriveController:

Classes
struct	OdometryParams
struct	WheelHandle
struct	WheelParams

Public Member Functions
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
DIFF_DRIVE_CONTROLLER_PUBLIC CallbackReturn	on_init () override
DIFF_DRIVE_CONTROLLER_PUBLIC CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_CONTROLLER_PUBLIC CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_CONTROLLER_PUBLIC CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_CONTROLLER_PUBLIC CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_CONTROLLER_PUBLIC CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_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)
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_state () const
CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const

Protected Member Functions
const char *	feedback_type () const
CallbackReturn	configure_side (const std::string &side, const std::vector< std::string > &wheel_names, std::vector< WheelHandle > &registered_handles)
bool	reset ()
void	halt ()

Protected Attributes
std::vector< std::string >	left_wheel_names_
std::vector< std::string >	right_wheel_names_
std::vector< WheelHandle >	registered_left_wheel_handles_
std::vector< WheelHandle >	registered_right_wheel_handles_
struct diff_drive_controller::DiffDriveController::WheelParams	wheel_params_
struct diff_drive_controller::DiffDriveController::OdometryParams	odom_params_
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< Twist >::SharedPtr	velocity_command_subscriber_ = nullptr
rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	velocity_command_unstamped_subscriber_ = nullptr
realtime_tools::RealtimeBox< std::shared_ptr< Twist > >	received_velocity_msg_ptr_ {nullptr}
std::queue< Twist >	previous_commands_
SpeedLimiter	limiter_linear_
SpeedLimiter	limiter_angular_
bool	publish_limited_velocity_ = false
std::shared_ptr< rclcpp::Publisher< Twist > >	limited_velocity_publisher_ = nullptr
std::shared_ptr< realtime_tools::RealtimePublisher< Twist > >	realtime_limited_velocity_publisher_
rclcpp::Time	previous_update_timestamp_ {0}
double	publish_rate_ = 50.0
rclcpp::Duration	publish_period_ = rclcpp::Duration::from_nanoseconds(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_
unsigned int	update_rate_ = 0

Member Function Documentation

command_interface_configuration()

InterfaceConfiguration diff_drive_controller::DiffDriveController::command_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

on_init()

CallbackReturn diff_drive_controller::DiffDriveController::on_init ( )

overridevirtual

Implements controller_interface::ControllerInterface.

state_interface_configuration()

InterfaceConfiguration diff_drive_controller::DiffDriveController::state_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

update()

controller_interface::return_type diff_drive_controller::DiffDriveController::update ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Implements controller_interface::ControllerInterface.

Member Data Documentation

odometry_transform_publisher_

std::shared_ptr<rclcpp::Publisher<tf2_msgs::msg::TFMessage> > diff_drive_controller::DiffDriveController::odometry_transform_publisher_

protected

Initial value:

=
    nullptr

realtime_limited_velocity_publisher_

std::shared_ptr<realtime_tools::RealtimePublisher<Twist> > diff_drive_controller::DiffDriveController::realtime_limited_velocity_publisher_

protected

Initial value:

=
    nullptr

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

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