steering_controllers_library::SteeringControllersLibrary Class Reference

Inheritance diagram for steering_controllers_library::SteeringControllersLibrary:

Collaboration diagram for steering_controllers_library::SteeringControllersLibrary:

Public Types
using	ControllerTwistReferenceMsg = geometry_msgs::msg::TwistStamped
using	ControllerStateMsgOdom = nav_msgs::msg::Odometry
using	ControllerStateMsgTf = tf2_msgs::msg::TFMessage
using	SteeringControllerStateMsg = control_msgs::msg::SteeringControllerStatus
using	AckermannControllerState = SteeringControllerStateMsg

Public Member Functions
virtual STEERING_CONTROLLERS__VISIBILITY_PUBLIC void	initialize_implementation_parameter_listener ()=0
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.
virtual STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn	configure_odometry ()=0
virtual STEERING_CONTROLLERS__VISIBILITY_PUBLIC bool	update_odometry (const rclcpp::Duration &period)=0
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 Types
using	ControllerStatePublisherOdom = realtime_tools::RealtimePublisher< ControllerStateMsgOdom >
using	ControllerStatePublisherTf = realtime_tools::RealtimePublisher< ControllerStateMsgTf >
using	ControllerStatePublisher = realtime_tools::RealtimePublisher< SteeringControllerStateMsg >

Protected Member Functions
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.

Protected Attributes
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_
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:
SteeringControllerStateMsg	published_state_
rclcpp::Publisher< SteeringControllerStateMsg >::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

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration steering_controllers_library::SteeringControllersLibrary::command_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required command interfaces.

Method used by the controller_manager to get the set of command interfaces used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the command_interfaces_ member.

Returns

configuration of command interfaces.

Implements controller_interface::ControllerInterfaceBase.

on_export_reference_interfaces()

std::vector< hardware_interface::CommandInterface > steering_controllers_library::SteeringControllersLibrary::on_export_reference_interfaces ( )

overrideprotectedvirtual

Virtual method that each chainable controller should implement to export its chainable interfaces. Each chainable controller implements this methods where all input (command) interfaces are exported. The method has the same meaning as export_command_interface method from hardware_interface::SystemInterface or hardware_interface::ActuatorInterface.

Returns

list of CommandInterfaces that other controller can use as their outputs.

Implements controller_interface::ChainableControllerInterface.

on_init()

controller_interface::CallbackReturn steering_controllers_library::SteeringControllersLibrary::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

Implements controller_interface::ControllerInterfaceBase.

on_set_chained_mode()

bool steering_controllers_library::SteeringControllersLibrary::on_set_chained_mode ( bool  chained_mode )

overrideprotectedvirtual

Virtual method that each chainable controller should implement to switch chained mode.

Each chainable controller implements this methods to switch between "chained" and "external" mode. In "chained" mode all external interfaces like subscriber and service servers are disabled to avoid potential concurrency in input commands.

Parameters

[in]

flag

marking a switch to or from chained mode.

Returns

true if controller successfully switched between "chained" and "external" mode. \default returns true so the method don't have to be overridden if controller can always switch chained mode.

Reimplemented from controller_interface::ChainableControllerInterface.

state_interface_configuration()

controller_interface::InterfaceConfiguration steering_controllers_library::SteeringControllersLibrary::state_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required state interfaces.

Method used by the controller_manager to get the set of state interface used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the state_interface_ member.

Returns

configuration of state interfaces.

Implements controller_interface::ControllerInterfaceBase.

update_and_write_commands()

controller_interface::return_type steering_controllers_library::SteeringControllersLibrary::update_and_write_commands ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Execute calculations of the controller and update command interfaces.

Update method for chainable controllers. In this method is valid to assume that \reference_interfaces_ hold the values for calculation of the commands in the current control step. This means that this method is called after \update_reference_from_subscribers if controller is not in chained mode.

Returns

return_type::OK if calculation and writing of interface is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

update_reference_from_subscribers()

controller_interface::return_type steering_controllers_library::SteeringControllersLibrary::update_reference_from_subscribers ( )

overridevirtual

Update reference from input topics when not in chained mode.

Each chainable controller implements this method to update reference from subscribers when not in chained mode.

Returns

return_type::OK if update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

Member Data Documentation

ref_subscriber_ackermann_

rclcpp::Subscription<ControllerTwistReferenceMsg>::SharedPtr steering_controllers_library::SteeringControllersLibrary::ref_subscriber_ackermann_

protected

Initial value:

=
    nullptr

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

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