rm_chassis_controllers::SwerveController Class Reference

#include <swerve.h>

Inheritance diagram for rm_chassis_controllers::SwerveController:

Collaboration diagram for rm_chassis_controllers::SwerveController:

Public Member Functions
	SwerveController ()=default
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
Public Member Functions inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >
	ChassisBase ()=default
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
	Get and check params for covariances. Setup odometry realtime publisher + odom message constant fields. init odom tf.
void	update (const ros::Time &time, const ros::Duration &period) override
	Receive real_time command from manual. Execute different action according to current mode. Set necessary params of chassis. Execute power limit.

Additional Inherited Members
Protected Types inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >
enum
Protected Member Functions inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >
void	raw ()
virtual void	follow (const ros::Time &time, const ros::Duration &period)
	The mode FOLLOW: chassis will follow gimbal.
void	twist (const ros::Time &time, const ros::Duration &period)
	The mode TWIST: Just moving chassis.
void	updateOdom (const ros::Time &time, const ros::Duration &period)
	Init frame on base_link. Integral vel to current_pos_ and angle.
void	recovery ()
	Set chassis velocity to zero.
void	tfVelToBase (const std::string &from)
	Transform tf velocity to base link frame.
virtual void	powerLimit ()
	To limit the chassis power according to current power limit.
virtual void	updatePowerStatus ()
void	cmdChassisCallback (const rm_msgs::ChassisCmdConstPtr &msg)
	Write current command from rm_msgs::ChassisCmd.
void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &msg)
	Write current command from geometry_msgs::Twist.
void	initialize_parameters (ros::NodeHandle &controller_nh)
void	slamCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	localizationCallback (const geometry_msgs::TransformStamped::ConstPtr &msg)
void	capacityCallback (const rm_msgs::PowerManagementSampleAndStatusData::ConstPtr &msg)
Protected Attributes inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::EffortJointInterface >
rm_control::RobotStateHandle	robot_state_handle_
hardware_interface::EffortJointInterface *	effort_joint_interface_
std::vector< hardware_interface::JointHandle >	joint_handles_
realtime_tools::RealtimeBuffer< Command >	cmd_rt_buffer_
realtime_tools::RealtimeBuffer< nav_msgs::Odometry >	slam_rt_buffer_
realtime_tools::RealtimeBuffer< geometry_msgs::TransformStamped >	localization_rt_buffer_
std::unique_ptr< realtime_tools::RealtimePublisher< nav_msgs::Odometry > >	odom_pub_
std::unique_ptr< realtime_tools::RealtimePublisher< std_msgs::Float64 > >	cpower_pub_
std::unique_ptr< realtime_tools::RealtimePublisher< std_msgs::Float64 > >	epower_pub_
std::unique_ptr< realtime_tools::RealtimePublisher< std_msgs::Float64 > >	chassis_power_pub_
rm_common::TfRtBroadcaster	brcst4global_map2robot_odom_
rm_common::TfRtBroadcaster	brcst4global_map2camera_init_
rm_common::TfRtBroadcaster	brcst4robot_odom2robot_base_
geometry_msgs::TransformStamped	global_map2robot_odom_
geometry_msgs::TransformStamped	global_map2camera_init_
geometry_msgs::TransformStamped	robot_odom2robot_base_
geometry_msgs::TransformStamped	robot_base2lidar_base_
tf2::Transform	T_global_map2robot_odom_
tf2::Transform	T_robot_odom_2robot_base_
tf2::Transform	T_lidar_odom2lidar_base_
tf2::Transform	T_robot_base2lidar_base_
tf2::Transform	T_global_map2lidar_odom_
ros::Subscriber	cmd_vel_sub_
ros::Subscriber	cmd_chassis_sub_
ros::Subscriber	slam_sub_
ros::Subscriber	localization_sub_
ros::Subscriber	capacity_sub_
std::unique_ptr< RampFilter< double > >	ramp_x_
std::unique_ptr< RampFilter< double > >	ramp_y_
std::unique_ptr< RampFilter< double > >	ramp_w_
double	publish_rate_
bool	publish_map_tf_
bool	publish_odom_tf_
bool	gravity_estimation_offset_
double	roll_
double	pitch_
double	yaw_
double	wheel_radius_
double	twist_angular_
double	max_odom_vel_
double	timeout_
double	chassis_power_
bool	capacity_update_flag_
bool	use_rls_
bool	use_K_angle_
bool	odom_initialized_
bool	slam_updated_
bool	localization_updated_
bool	state_changed_
int	state_
std::string	follow_source_frame_
std::string	command_source_frame_
std::string	global_map_frame_id_
std::string	robot_odom_frame_id_
std::string	robot_base_frame_id_
std::string	lidar_base_frame_id_
std::string	slam_topic_
std::string	localization_topic_
std::string	capacity_topic_
ros::Time	last_publish_time_
geometry_msgs::Vector3	vel_cmd_
std::array< double, 36 >	twist_covariance_
control_toolbox::Pid	pid_follow_
Command	cmd_struct_
PowerLimitor	wheel_power_limitor_

Constructor & Destructor Documentation

SwerveController()

rm_chassis_controllers::SwerveController::SwerveController ( )

default

Member Function Documentation

init()

bool rm_chassis_controllers::SwerveController::init ( hardware_interface::RobotHW * robot_hw, ros::NodeHandle & root_nh, ros::NodeHandle & controller_nh )

override

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

• rm_chassis_controllers/include/rm_chassis_controllers/swerve.h
• rm_chassis_controllers/src/swerve.cpp