Inheritance diagram for steering_controllers_library::SteeringControllersLibrary:

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Collaboration diagram for steering_controllers_library::SteeringControllersLibrary:

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Public Types
using	ControllerTwistReferenceMsg = geometry_msgs::msg::TwistStamped

using	ControllerStateMsgOdom = nav_msgs::msg::Odometry

using	ControllerStateMsgTf = tf2_msgs::msg::TFMessage

using	SteeringControllerStateMsg = control_msgs::msg::SteeringControllerStatus

Public Member Functions
virtual void	initialize_implementation_parameter_listener ()=0

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

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.

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
	Update reference from input topics when not in chained mode.

controller_interface::return_type	update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Execute calculations of the controller and update command interfaces.

Public Member Functions inherited from controller_interface::ChainableControllerInterface
return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) final
	Control step. Updates command interfaces from reference inputs and current states. The method called in the (real-time) control loop.

bool	is_chainable () const final
	Get information if a controller is chainable.

std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final
	Export interfaces for a chainable controller that can be used as state interface by other controllers.

std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces () final
	Export interfaces for a chainable controller that can be used as command interface of other controllers.

bool	set_chained_mode (bool chained_mode) final
	Set chained mode of a chainable controller. This method triggers internal processes to switch a chainable controller to "chained" mode and vice-versa. Setting controller to "chained" mode usually involves the usage of the controller's reference interfaces by the other controllers.

bool	is_in_chained_mode () const final
	Get information if a controller is currently in chained mode.

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)

return_type	init (const controller_interface::ControllerInterfaceParams &params)

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)
	Trigger update method. This method is used by the controller_manager to trigger the update method of the controller. The method is used to trigger the update method of the controller synchronously or asynchronously, based on the controller configuration. The method called in the (real-time) control loop.

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
	Get the current lifecycle state of the controller node.

uint8_t	get_lifecycle_id () const
	Get the lifecycle id of the controller node that is cached internally to avoid calls to get_lifecycle_state() in the real-time control loop.

unsigned int	get_update_rate () const

bool	is_async () const

const std::string &	get_robot_description () const

const std::unordered_map< std::string, joint_limits::JointLimits > &	get_hard_joint_limits () const
	Get the unordered map of joint limits that are defined in the robot description.

const std::unordered_map< std::string, joint_limits::SoftJointLimits > &	get_soft_joint_limits () const
	Get the unordered map of soft joint limits that are defined in the robot description.

virtual rclcpp::NodeOptions	define_custom_node_options () const
	Method used by the controller_manager for base NodeOptions to instantiate the Lifecycle node of the controller upon loading the controller.

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 ()
	Method to wait for any running async update cycle to finish after finishing the current cycle. This is needed to be called before deactivating the controller by the controller_manager, so that the interfaces still exist when the controller finishes its cycle and then it's exits.

void	prepare_for_deactivation ()
	Method to prepare the controller for deactivation. This method is called by the controller manager before deactivating the controller. The method is used to prepare the controller for deactivation, e.g., to stop triggering the update cycles further. This method is especially needed for controllers running in async mode and different frequency than the control manager.

std::string	get_name () const

void	enable_introspection (bool enable)
	Enable or disable introspection of the controller.

Protected Types
using	ControllerStatePublisherOdom = realtime_tools::RealtimePublisher< ControllerStateMsgOdom >

using	ControllerStatePublisherTf = realtime_tools::RealtimePublisher< ControllerStateMsgTf >

using	ControllerStatePublisher = realtime_tools::RealtimePublisher< SteeringControllerStateMsg >

Protected Member Functions
controller_interface::CallbackReturn	set_interface_numbers (size_t nr_state_itfs, size_t nr_cmd_itfs, size_t nr_ref_itfs)

std::vector< hardware_interface::CommandInterface >	on_export_reference_interfaces () override
	Virtual method implemented by chainable controllers to export read/write interfaces.

bool	on_set_chained_mode (bool chained_mode) override
	Virtual method that each chainable controller should implement to switch chained mode.

Protected Member Functions inherited from controller_interface::ChainableControllerInterface
virtual std::vector< hardware_interface::StateInterface >	on_export_state_interfaces ()
	Virtual method that each chainable controller should implement to export its read-only chainable interfaces.

virtual std::vector< hardware_interface::StateInterface::SharedPtr >	on_export_state_interfaces_list ()
	Virtual method implemented by chainable controllers to export read-only interfaces.

virtual std::vector< hardware_interface::CommandInterface::SharedPtr >	on_export_reference_interfaces_list ()
	Virtual method that each chainable controller should implement to export its read/write chainable interfaces.

Protected Attributes
std::shared_ptr< steering_controllers_library::ParamListener >	param_listener_

steering_controllers_library::Params	params_

realtime_tools::RealtimeThreadSafeBox< ControllerTwistReferenceMsg >	input_ref_

ControllerTwistReferenceMsg	current_ref_

rclcpp::Duration	ref_timeout_ = rclcpp::Duration::from_seconds(0.0)

rclcpp::Subscription< ControllerTwistReferenceMsg >::SharedPtr	ref_subscriber_twist_ = nullptr

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_

steering_kinematics::SteeringKinematics	odometry_
	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_

rclcpp::Publisher< SteeringControllerStateMsg >::SharedPtr	controller_s_publisher_

std::unique_ptr< ControllerStatePublisher >	controller_state_publisher_

SteeringControllerStateMsg	controller_state_msg_

size_t	nr_state_itfs_

size_t	nr_cmd_itfs_

size_t	nr_ref_itfs_

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_

Protected Attributes inherited from controller_interface::ChainableControllerInterface
std::vector< std::string >	exported_state_interface_names_
	Storage of values for state interfaces.

std::vector< hardware_interface::StateInterface::SharedPtr >	ordered_exported_state_interfaces_

std::unordered_map< std::string, hardware_interface::StateInterface::SharedPtr >	exported_state_interfaces_

std::vector< double >	state_interfaces_values_

std::vector< std::string >	exported_reference_interface_names_
	Storage of values for reference interfaces.

std::vector< double >	reference_interfaces_

std::vector< hardware_interface::CommandInterface::SharedPtr >	ordered_exported_reference_interfaces_

std::unordered_map< std::string, hardware_interface::CommandInterface::SharedPtr >	exported_reference_interfaces_

Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
	Loaned command interfaces.

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_
	Loaned state interfaces.

pal_statistics::RegistrationsRAII	stats_registrations_

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration steering_controllers_library::SteeringControllersLibrary::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_export_reference_interfaces()

std::vector< hardware_interface::CommandInterface > steering_controllers_library::SteeringControllersLibrary::on_export_reference_interfaces ( )

overrideprotectedvirtual

Virtual method implemented by chainable controllers to export read/write interfaces.

Each chainable controller implements this methods where all input (command) interfaces are exported. The method has the same meaning as export_command_interface method from hardware_interface::SystemInterface or hardware_interface::ActuatorInterface.

Returns: list of CommandInterfaces that other controller can use as their outputs.

Reimplemented from controller_interface::ChainableControllerInterface.

◆ on_init()

controller_interface::CallbackReturn steering_controllers_library::SteeringControllersLibrary::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

Implements controller_interface::ControllerInterfaceBase.

◆ on_set_chained_mode()

bool steering_controllers_library::SteeringControllersLibrary::on_set_chained_mode ( bool chained_mode )

overrideprotectedvirtual

Virtual method that each chainable controller should implement to switch chained mode.

Each chainable controller implements this methods to switch between "chained" and "external" mode. In "chained" mode all external interfaces like subscriber and service servers are disabled to avoid potential concurrency in input commands.

Parameters

[in] flag marking a switch to or from chained mode.

Returns: true if controller successfully switched between "chained" and "external" mode. @default returns true so the method don't have to be overridden if controller can always switch chained mode.

Reimplemented from controller_interface::ChainableControllerInterface.

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration steering_controllers_library::SteeringControllersLibrary::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_and_write_commands()

controller_interface::return_type steering_controllers_library::SteeringControllersLibrary::update_and_write_commands	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Execute calculations of the controller and update command interfaces.

Update method for chainable controllers. In this method is valid to assume that \reference_interfaces_ hold the values for calculation of the commands in the current control step. This means that this method is called after \update_reference_from_subscribers if controller is not in chained mode.

Returns: return_type::OK if calculation and writing of interface is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

◆ update_reference_from_subscribers()

controller_interface::return_type steering_controllers_library::SteeringControllersLibrary::update_reference_from_subscribers	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Update reference from input topics when not in chained mode.

Each chainable controller implements this method to update reference from subscribers when not in chained mode.

Returns: return_type::OK if update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

The documentation for this class was generated from the following files:

ros2_controllers/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
ros2_controllers/steering_controllers_library/src/steering_controllers_library.cpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ command_interface_configuration()

◆ on_export_reference_interfaces()

◆ on_init()

◆ on_set_chained_mode()

◆ state_interface_configuration()

◆ update_and_write_commands()

◆ update_reference_from_subscribers()