Inheritance diagram for bicycle_steering_controller::BicycleSteeringController:

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Collaboration diagram for bicycle_steering_controller::BicycleSteeringController:

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Public Member Functions
BICYCLE_STEERING_CONTROLLER__VISIBILITY_PUBLIC controller_interface::CallbackReturn	configure_odometry () override

BICYCLE_STEERING_CONTROLLER__VISIBILITY_PUBLIC bool	update_odometry (const rclcpp::Duration &period) override

BICYCLE_STEERING_CONTROLLER__VISIBILITY_PUBLIC void	initialize_implementation_parameter_listener () override

Public Member Functions inherited from steering_controllers_library::SteeringControllersLibrary
STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces.

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces.

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::return_type	update_reference_from_subscribers () override
	Update reference from input topics when not in chained mode.

STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::return_type	update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Execute calculations of the controller and update command interfaces.

Public Member Functions inherited from controller_interface::ChainableControllerInterface
CONTROLLER_INTERFACE_PUBLIC return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) final

CONTROLLER_INTERFACE_PUBLIC bool	is_chainable () const final
	Get information if a controller is chainable.

CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface >	export_reference_interfaces () final

CONTROLLER_INTERFACE_PUBLIC bool	set_chained_mode (bool chained_mode) final

CONTROLLER_INTERFACE_PUBLIC bool	is_in_chained_mode () const final
	Get information if a controller is currently in chained mode.

Public Member Functions inherited from controller_interface::ControllerInterfaceBase
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, const std::string &namespace_="", const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions() .allow_undeclared_parameters(true) .automatically_declare_parameters_from_overrides(true))

CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.

CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()

CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () const

CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_state () const

CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const

template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.

Protected Attributes
std::shared_ptr< bicycle_steering_controller::ParamListener >	bicycle_param_listener_

bicycle_steering_controller::Params	bicycle_params_

Protected Attributes inherited from steering_controllers_library::SteeringControllersLibrary
std::shared_ptr< steering_controllers_library::ParamListener >	param_listener_

steering_controllers_library::Params	params_

rclcpp::Subscription< ControllerTwistReferenceMsg >::SharedPtr	ref_subscriber_twist_ = nullptr

rclcpp::Subscription< ControllerTwistReferenceMsg >::SharedPtr	ref_subscriber_ackermann_ = nullptr

rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	ref_subscriber_unstamped_ = nullptr

realtime_tools::RealtimeBuffer< std::shared_ptr< ControllerTwistReferenceMsg > >	input_ref_

rclcpp::Duration	ref_timeout_ = rclcpp::Duration::from_seconds(0.0)

rclcpp::Publisher< ControllerStateMsgOdom >::SharedPtr	odom_s_publisher_

rclcpp::Publisher< ControllerStateMsgTf >::SharedPtr	tf_odom_s_publisher_

std::unique_ptr< ControllerStatePublisherOdom >	rt_odom_state_publisher_

std::unique_ptr< ControllerStatePublisherTf >	rt_tf_odom_state_publisher_

steering_odometry::SteeringOdometry	odometry_
	Odometry:

AckermannControllerState	published_state_

rclcpp::Publisher< AckermannControllerState >::SharedPtr	controller_s_publisher_

std::unique_ptr< ControllerStatePublisher >	controller_state_publisher_

size_t	nr_state_itfs_

size_t	nr_cmd_itfs_

size_t	nr_ref_itfs_

double	last_linear_velocity_ = 0.0

double	last_angular_velocity_ = 0.0

std::vector< std::string >	rear_wheels_state_names_

std::vector< std::string >	front_wheels_state_names_

Protected Attributes inherited from controller_interface::ChainableControllerInterface
std::vector< double >	reference_interfaces_
	Storage of values for reference interfaces.

Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

unsigned int	update_rate_ = 0

Additional Inherited Members
Public Types inherited from steering_controllers_library::SteeringControllersLibrary
using	ControllerAckermannReferenceMsg = ackermann_msgs::msg::AckermannDriveStamped

using	ControllerTwistReferenceMsg = geometry_msgs::msg::TwistStamped

using	ControllerStateMsgOdom = nav_msgs::msg::Odometry

using	ControllerStateMsgTf = tf2_msgs::msg::TFMessage

using	AckermannControllerState = control_msgs::msg::SteeringControllerStatus

Protected Types inherited from steering_controllers_library::SteeringControllersLibrary
using	ControllerStatePublisherOdom = realtime_tools::RealtimePublisher< ControllerStateMsgOdom >

using	ControllerStatePublisherTf = realtime_tools::RealtimePublisher< ControllerStateMsgTf >

using	ControllerStatePublisher = realtime_tools::RealtimePublisher< AckermannControllerState >

Protected Member Functions inherited from steering_controllers_library::SteeringControllersLibrary
controller_interface::CallbackReturn	set_interface_numbers (size_t nr_state_itfs, size_t nr_cmd_itfs, size_t nr_ref_itfs)

std::vector< hardware_interface::CommandInterface >	on_export_reference_interfaces () override

bool	on_set_chained_mode (bool chained_mode) override
	Virtual method that each chainable controller should implement to switch chained mode.

Member Function Documentation

◆ configure_odometry()

controller_interface::CallbackReturn bicycle_steering_controller::BicycleSteeringController::configure_odometry ( )

overridevirtual

Implements steering_controllers_library::SteeringControllersLibrary.

◆ initialize_implementation_parameter_listener()

void bicycle_steering_controller::BicycleSteeringController::initialize_implementation_parameter_listener ( )

overridevirtual

Implements steering_controllers_library::SteeringControllersLibrary.

◆ update_odometry()

bool bicycle_steering_controller::BicycleSteeringController::update_odometry ( const rclcpp::Duration & period )

overridevirtual

Implements steering_controllers_library::SteeringControllersLibrary.

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

ros2_controllers/bicycle_steering_controller/include/bicycle_steering_controller/bicycle_steering_controller.hpp
ros2_controllers/bicycle_steering_controller/src/bicycle_steering_controller.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ configure_odometry()

◆ initialize_implementation_parameter_listener()

◆ update_odometry()