tricycle_controller::TricycleController Class Reference

Inheritance diagram for tricycle_controller::TricycleController:

Collaboration diagram for tricycle_controller::TricycleController:

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
	Control step update. Command interfaces are updated based on on reference inputs and current states. The method called in the (real-time) control loop.
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
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)
Public Member Functions inherited from controller_interface::ControllerInterface
bool	is_chainable () const final
	Controller is not chainable.
std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final
	A non-chainable controller doesn't export any state interfaces.
std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces () final
	Controller has no reference interfaces.
bool	set_chained_mode (bool chained_mode) final
	Controller is not chainable, therefore no chained mode can be set.
bool	is_in_chained_mode () const final
	Controller can not be 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 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)
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
AckermannDrive	ackermann_command_msg_
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
nav_msgs::msg::Odometry	odometry_msg_
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
tf2_msgs::msg::TFMessage	tf_msg_
std::chrono::milliseconds	cmd_vel_timeout_ {500}
bool	subscriber_is_active_ = false
rclcpp::Subscription< TwistStamped >::SharedPtr	velocity_command_subscriber_ = nullptr
realtime_tools::RealtimeThreadSafeBox< std::shared_ptr< TwistStamped > >	received_velocity_msg_ptr_
std::shared_ptr< TwistStamped >	last_command_msg_
rclcpp::Service< std_srvs::srv::Empty >::SharedPtr	reset_odom_service_
std::atomic< bool >	reset_odom_ {false}
std::queue< AckermannDrive >	previous_commands_
TractionLimiter	limiter_traction_
SteeringLimiter	limiter_steering_
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()

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

received_velocity_msg_ptr_

realtime_tools::RealtimeThreadSafeBox<std::shared_ptr<TwistStamped> > tricycle_controller::TricycleController::received_velocity_msg_ptr_

protected

Initial value:

{
    nullptr}

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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