joint_state_broadcaster.hpp

// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// 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.
 
#ifndef JOINT_STATE_BROADCASTER__JOINT_STATE_BROADCASTER_HPP_
#define JOINT_STATE_BROADCASTER__JOINT_STATE_BROADCASTER_HPP_
 
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
 
#include "control_msgs/msg/dynamic_joint_state.hpp"
#include "controller_interface/controller_interface.hpp"
#include "realtime_tools/realtime_publisher.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
 
#include "rclcpp/version.h"
#if RCLCPP_VERSION_GTE(29, 0, 0)
#include "urdf/model.hpp"
#else
#include "urdf/model.h"
#endif
 
// auto-generated by generate_parameter_library
#include "joint_state_broadcaster/joint_state_broadcaster_parameters.hpp"
 
namespace joint_state_broadcaster
{
class JointStateBroadcaster : public controller_interface::ControllerInterface
{
public:
  JointStateBroadcaster();
 
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
  controller_interface::return_type update(
    const rclcpp::Time & time, const rclcpp::Duration & period) 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;
 
protected:
  bool init_joint_data();
  void init_auxiliary_data();
  void init_joint_state_msg();
  void init_dynamic_joint_state_msg();
  bool use_all_available_interfaces() const;
 
protected:
  // Optional parameters
  std::shared_ptr<ParamListener> param_listener_;
  Params params_;
  std::unordered_map<std::string, std::string> map_interface_to_joint_state_;
 
  std::string frame_id_;
 
  //  For the JointState message,
  //  we store the name of joints with compatible interfaces
  std::vector<std::string> joint_names_;
  std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::JointState>> joint_state_publisher_;
  std::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::msg::JointState>>
    realtime_joint_state_publisher_;
 
  //  For the DynamicJointState format, we use a map to buffer values in for easier lookup
  //  This allows to preserve whatever order or names/interfaces were initialized.
  std::unordered_map<std::string, std::unordered_map<std::string, double>> name_if_value_mapping_;
  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::DynamicJointState>>
    dynamic_joint_state_publisher_;
  std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::DynamicJointState>>
    realtime_dynamic_joint_state_publisher_;
 
  urdf::Model model_;
  bool is_model_loaded_ = false;
 
  std::vector<double *> mapped_values_;
 
  struct JointStateData
  {
    JointStateData(const double & position, const double & velocity, const double & effort)
    : position_(position), velocity_(velocity), effort_(effort)
    {
    }
 
    const double & position_;
    const double & velocity_;
    const double & effort_;
  };
 
  std::vector<JointStateData> joint_states_data_;
 
  std::vector<std::vector<const double *>> dynamic_joint_states_data_;
};
 
}  // namespace joint_state_broadcaster
 
#endif  // JOINT_STATE_BROADCASTER__JOINT_STATE_BROADCASTER_HPP_