tricycle_controller::TricycleController Class Reference

Inheritance diagram for tricycle_controller::TricycleController:

Collaboration diagram for tricycle_controller::TricycleController:

Classes
struct	SteeringHandle
struct	TractionHandle

Public Member Functions
TRICYCLE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces.
TRICYCLE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces.
TRICYCLE_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
TRICYCLE_CONTROLLER_PUBLIC CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.
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 bool	is_chainable () const final
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
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().enable_logger_service(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
CONTROLLER_INTERFACE_PUBLIC bool	is_async () const
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.

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::shared_ptr< ParamListener >	param_listener_
Params	params_
std::vector< TractionHandle >	traction_joint_
std::vector< SteeringHandle >	steering_joint_
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_
bool	is_halted = false
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
bool	is_async_ = false

Member Function Documentation

command_interface_configuration()

InterfaceConfiguration tricycle_controller::TricycleController::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_init()

CallbackReturn tricycle_controller::TricycleController::on_init ( )

overridevirtual

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

Implements controller_interface::ControllerInterfaceBase.

state_interface_configuration()

InterfaceConfiguration tricycle_controller::TricycleController::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()

controller_interface::return_type tricycle_controller::TricycleController::update ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Control step update. Command interfaces are updated based on on reference inputs and current states. The method called in the (real-time) control loop.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time since the last control loop iteration

Returns

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

Implements controller_interface::ControllerInterfaceBase.

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