Inheritance diagram for tricycle_controller::TricycleController:

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Collaboration diagram for tricycle_controller::TricycleController:

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Classes
struct	SteeringHandle

struct	TractionHandle

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

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

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

CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.

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

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

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

CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override

CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override

Public Member Functions inherited from controller_interface::ControllerInterface
bool	is_chainable () const final

std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final

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

bool	set_chained_mode (bool chained_mode) final

bool	is_in_chained_mode () const final

Public Member Functions inherited from controller_interface::ControllerInterfaceBase
virtual 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.

virtual void	release_interfaces ()
	Method that releases the Loaned interfaces from the controller.

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)

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

ControllerUpdateStatus	trigger_update (const rclcpp::Time &time, const rclcpp::Duration &period)

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

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

const rclcpp_lifecycle::State &	get_lifecycle_state () const

unsigned int	get_update_rate () const

bool	is_async () const

const std::string &	get_robot_description () const

virtual 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.

void	wait_for_trigger_update_to_finish ()

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

realtime_tools::RealtimeBox< std::shared_ptr< TwistStamped > >	received_velocity_msg_ptr_ {nullptr}

std::shared_ptr< TwistStamped >	last_command_msg_

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_

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_interfaces_ 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

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ command_interface_configuration()

◆ on_init()

◆ state_interface_configuration()

◆ update()

Member Data Documentation

◆ odometry_transform_publisher_