diff_drive_controller::DiffDriveController Class Reference

Inheritance diagram for diff_drive_controller::DiffDriveController:

Collaboration diagram for diff_drive_controller::DiffDriveController:

Classes
struct	WheelHandle

Public Member Functions
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces. More...
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces. More...
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override
DIFF_DRIVE_CONTROLLER_PUBLIC controller_interface::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::StateInterface::ConstSharedPtr >	export_state_interfaces () final
CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface::SharedPtr >	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
virtual CONTROLLER_INTERFACE_PUBLIC void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)
	Method that assigns the Loaned interfaces to the controller. More...
virtual CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()
	Method that releases the Loaned interfaces from the controller. More...
CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name, const std::string &urdf, unsigned int cm_update_rate, const std::string &node_namespace, const rclcpp::NodeOptions &node_options)
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.
CONTROLLER_INTERFACE_PUBLIC ControllerUpdateStatus	trigger_update (const rclcpp::Time &time, const rclcpp::Duration &period)
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< const rclcpp_lifecycle::LifecycleNode >	get_node () const
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_lifecycle_state () const
CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const
CONTROLLER_INTERFACE_PUBLIC bool	is_async () const
CONTROLLER_INTERFACE_PUBLIC const std::string &	get_robot_description () const
virtual CONTROLLER_INTERFACE_PUBLIC rclcpp::NodeOptions	define_custom_node_options () const
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type. More...
CONTROLLER_INTERFACE_PUBLIC void	wait_for_trigger_update_to_finish ()

Protected Member Functions
const char *	feedback_type () const
controller_interface::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< WheelHandle >	registered_left_wheel_handles_
std::vector< WheelHandle >	registered_right_wheel_handles_
std::shared_ptr< ParamListener >	param_listener_
Params	params_
int	wheels_per_side_
Odometry	odometry_
std::chrono::milliseconds	cmd_vel_timeout_ {500}
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
bool	subscriber_is_active_ = false
rclcpp::Subscription< TwistStamped >::SharedPtr	velocity_command_subscriber_ = nullptr
realtime_tools::RealtimeBox< std::shared_ptr< TwistStamped > >	received_velocity_msg_ptr_ {nullptr}
std::shared_ptr< TwistStamped >	last_command_msg_
std::queue< TwistStamped >	previous_commands_
SpeedLimiter	limiter_linear_
SpeedLimiter	limiter_angular_
bool	publish_limited_velocity_ = false
std::shared_ptr< rclcpp::Publisher< TwistStamped > >	limited_velocity_publisher_ = nullptr
std::shared_ptr< realtime_tools::RealtimePublisher< TwistStamped > >	realtime_limited_velocity_publisher_ = nullptr
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, 0, RCL_CLOCK_UNINITIALIZED}
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_

Member Function Documentation

command_interface_configuration()

InterfaceConfiguration diff_drive_controller::DiffDriveController::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.

state_interface_configuration()

InterfaceConfiguration diff_drive_controller::DiffDriveController::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_interfaces_ member.

Returns

configuration of state interfaces.

Implements controller_interface::ControllerInterfaceBase.

update()

controller_interface::return_type diff_drive_controller::DiffDriveController::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> > diff_drive_controller::DiffDriveController::odometry_transform_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