force_torque_sensor_broadcaster.hpp

// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*
 * Authors: Subhas Das, Denis Stogl
 */
 
#ifndef FORCE_TORQUE_SENSOR_BROADCASTER__FORCE_TORQUE_SENSOR_BROADCASTER_HPP_
#define FORCE_TORQUE_SENSOR_BROADCASTER__FORCE_TORQUE_SENSOR_BROADCASTER_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "controller_interface/chainable_controller_interface.hpp"
#include "filters/filter_chain.hpp"
#include "geometry_msgs/msg/wrench_stamped.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "realtime_tools/realtime_publisher.hpp"
#include "semantic_components/force_torque_sensor.hpp"
 
// auto-generated by generate_parameter_library
#include "force_torque_sensor_broadcaster/force_torque_sensor_broadcaster_parameters.hpp"
 
namespace force_torque_sensor_broadcaster
{
using WrenchMsgType = geometry_msgs::msg::WrenchStamped;
 
class ForceTorqueSensorBroadcaster : public controller_interface::ChainableControllerInterface
{
public:
  ForceTorqueSensorBroadcaster();
 
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
  controller_interface::CallbackReturn on_init() override;
 
  controller_interface::CallbackReturn on_configure(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::CallbackReturn on_activate(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::CallbackReturn on_deactivate(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::return_type update_and_write_commands(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
  controller_interface::return_type update_reference_from_subscribers(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
  std::vector<hardware_interface::StateInterface> on_export_state_interfaces() override;
 
protected:
  void apply_sensor_offset(const Params & params, geometry_msgs::msg::WrenchStamped & msg);
  void apply_sensor_multiplier(const Params & params, geometry_msgs::msg::WrenchStamped & msg);
 
  std::shared_ptr<ParamListener> param_listener_;
  Params params_;
 
  std::unique_ptr<semantic_components::ForceTorqueSensor> force_torque_sensor_;
  bool has_filter_chain_ = false;
 
  WrenchMsgType wrench_raw_;
  WrenchMsgType wrench_filtered_;
  std::unique_ptr<filters::FilterChain<WrenchMsgType>> filter_chain_;
 
  using StatePublisher = rclcpp::Publisher<WrenchMsgType>::SharedPtr;
  using StateRTPublisher = realtime_tools::RealtimePublisher<WrenchMsgType>;
  StatePublisher sensor_raw_state_publisher_;
  StatePublisher sensor_filtered_state_publisher_;
  std::unique_ptr<StateRTPublisher> realtime_raw_publisher_;
  std::unique_ptr<StateRTPublisher> realtime_filtered_publisher_;
};
 
}  // namespace force_torque_sensor_broadcaster
 
#endif  // FORCE_TORQUE_SENSOR_BROADCASTER__FORCE_TORQUE_SENSOR_BROADCASTER_HPP_