steering_controllers_library.hpp

// Copyright (c) 2023, 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.
 
#ifndef STEERING_CONTROLLERS_LIBRARY__STEERING_CONTROLLERS_LIBRARY_HPP_
#define STEERING_CONTROLLERS_LIBRARY__STEERING_CONTROLLERS_LIBRARY_HPP_
 
#include <cmath>
#include <memory>
#include <string>
#include <vector>
 
#include "controller_interface/chainable_controller_interface.hpp"
#include "hardware_interface/handle.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "realtime_tools/realtime_publisher.hpp"
#include "realtime_tools/realtime_thread_safe_box.hpp"
 
// TODO(anyone): Replace with controller specific messages
#include "control_msgs/msg/steering_controller_status.hpp"
#include "control_msgs/srv/set_odometry.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "tf2_msgs/msg/tf_message.hpp"
 
#include "steering_controllers_library/steering_controllers_library_parameters.hpp"
#include "steering_controllers_library/steering_kinematics.hpp"
 
namespace steering_controllers_library
{
class SteeringControllersLibrary : public controller_interface::ChainableControllerInterface
{
public:
  SteeringControllersLibrary();
 
  virtual void initialize_implementation_parameter_listener() = 0;
 
  controller_interface::CallbackReturn on_init() override;
 
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
  virtual controller_interface::CallbackReturn configure_odometry() = 0;
 
  virtual bool update_odometry(const rclcpp::Duration & period) = 0;
 
  void set_odometry(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<control_msgs::srv::SetOdometry::Request> req,
    std::shared_ptr<control_msgs::srv::SetOdometry::Response> res);
 
  bool reset();
 
  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::CallbackReturn on_cleanup(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::CallbackReturn on_error(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::return_type update_reference_from_subscribers(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
  controller_interface::return_type update_and_write_commands(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
  using ControllerTwistReferenceMsg = geometry_msgs::msg::TwistStamped;
  using ControllerStateMsgOdom = nav_msgs::msg::Odometry;
  using ControllerStateMsgTf = tf2_msgs::msg::TFMessage;
  using SteeringControllerStateMsg = control_msgs::msg::SteeringControllerStatus;
 
protected:
  controller_interface::CallbackReturn set_interface_numbers(
    size_t nr_state_itfs, size_t nr_cmd_itfs, size_t nr_ref_itfs);
 
  std::shared_ptr<steering_controllers_library::ParamListener> param_listener_;
  steering_controllers_library::Params params_;
 
  // the RT Box containing the command message
  realtime_tools::RealtimeThreadSafeBox<ControllerTwistReferenceMsg> input_ref_;
  // save the last reference in case of unable to get value from box
  ControllerTwistReferenceMsg current_ref_;
  rclcpp::Duration ref_timeout_ = rclcpp::Duration::from_seconds(0.0);  // 0ms
 
  // Command subscribers and Controller State publisher
  rclcpp::Subscription<ControllerTwistReferenceMsg>::SharedPtr ref_subscriber_twist_ = nullptr;
  using ControllerStatePublisherOdom = realtime_tools::RealtimePublisher<ControllerStateMsgOdom>;
  using ControllerStatePublisherTf = realtime_tools::RealtimePublisher<ControllerStateMsgTf>;
 
  rclcpp::Publisher<ControllerStateMsgOdom>::SharedPtr odom_s_publisher_;
  rclcpp::Publisher<ControllerStateMsgTf>::SharedPtr tf_odom_s_publisher_;
 
  std::unique_ptr<ControllerStatePublisherOdom> rt_odom_state_publisher_;
  ControllerStateMsgOdom odom_state_msg_;
  std::unique_ptr<ControllerStatePublisherTf> rt_tf_odom_state_publisher_;
  ControllerStateMsgTf tf_odom_state_msg_;
 
  // override methods from ChainableControllerInterface
  std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
 
  bool on_set_chained_mode(bool chained_mode) override;
 
  steering_kinematics::SteeringKinematics odometry_;
  rclcpp::Service<control_msgs::srv::SetOdometry>::SharedPtr set_odom_service_;
  std::atomic<bool> set_odom_requested_{false};
  realtime_tools::RealtimeThreadSafeBox<control_msgs::srv::SetOdometry::Request>
    requested_odom_params_;
 
  SteeringControllerStateMsg published_state_;
 
  using ControllerStatePublisher = realtime_tools::RealtimePublisher<SteeringControllerStateMsg>;
  rclcpp::Publisher<SteeringControllerStateMsg>::SharedPtr controller_s_publisher_;
  std::unique_ptr<ControllerStatePublisher> controller_state_publisher_;
  SteeringControllerStateMsg controller_state_msg_;
 
  // name constants for state interfaces
  size_t nr_state_itfs_;
  // name constants for command interfaces
  size_t nr_cmd_itfs_;
  // name constants for reference interfaces
  size_t nr_ref_itfs_;
 
  // last velocity commands for open loop odometry
  double last_linear_velocity_ = 0.0;
  double last_angular_velocity_ = 0.0;
 
  std::vector<std::string> traction_joints_state_names_;
  std::vector<std::string> steering_joints_state_names_;
 
private:
  // callback for topic interface
  void reference_callback(const std::shared_ptr<ControllerTwistReferenceMsg> msg);
};
 
}  // namespace steering_controllers_library
 
#endif  // STEERING_CONTROLLERS_LIBRARY__STEERING_CONTROLLERS_LIBRARY_HPP_