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[tricycle_controller] Use generate_parameter_library (#957)
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christophfroehlich authored Jan 29, 2024
1 parent 7fee940 commit 8d732f1
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Showing 8 changed files with 275 additions and 200 deletions.
13 changes: 10 additions & 3 deletions tricycle_controller/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
builtin_interfaces
controller_interface
geometry_msgs
generate_parameter_library
hardware_interface
nav_msgs
pluginlib
Expand All @@ -29,6 +30,10 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()

generate_parameter_library(tricycle_controller_parameters
src/tricycle_controller_parameter.yaml
)

add_library(tricycle_controller SHARED
src/tricycle_controller.cpp
src/odometry.cpp
Expand All @@ -40,6 +45,7 @@ target_include_directories(tricycle_controller PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/tricycle_controller>
)
target_link_libraries(tricycle_controller PUBLIC tricycle_controller_parameters)
ament_target_dependencies(tricycle_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})

pluginlib_export_plugin_description_file(controller_interface tricycle_controller.xml)
Expand All @@ -50,8 +56,7 @@ if(BUILD_TESTING)
find_package(ros2_control_test_assets REQUIRED)

ament_add_gmock(test_tricycle_controller
test/test_tricycle_controller.cpp
ENV config_file=${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_tricycle_controller.yaml)
test/test_tricycle_controller.cpp)
target_link_libraries(test_tricycle_controller
tricycle_controller
)
Expand All @@ -66,8 +71,9 @@ if(BUILD_TESTING)
tf2_msgs
)

ament_add_gmock(test_load_tricycle_controller
add_rostest_with_parameters_gmock(test_load_tricycle_controller
test/test_load_tricycle_controller.cpp
${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_tricycle_controller.yaml
)
target_link_libraries(test_load_tricycle_controller
tricycle_controller
Expand All @@ -85,6 +91,7 @@ install(
install(
TARGETS
tricycle_controller
tricycle_controller_parameters
EXPORT export_tricycle_controller
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
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10 changes: 9 additions & 1 deletion tricycle_controller/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,8 @@
tricycle_controller
=====================

Controller for mobile robots with tricycle drive.
Controller for mobile robots with a single double-actuated wheel, including traction and steering. An example is a tricycle robot with the actuated wheel in the front and two trailing wheels on the rear axle.

Input for control are robot base_link twist commands which are translated to traction and steering
commands for the tricycle drive base. Odometry is computed from hardware feedback and published.

Expand All @@ -24,3 +25,10 @@ Other features
Odometry publishing
Velocity, acceleration and jerk limits
Automatic stop after command timeout

Parameters
--------------

This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.

.. generate_parameter_library_details:: ../src/tricycle_controller_parameter.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,9 @@
#include "tricycle_controller/traction_limiter.hpp"
#include "tricycle_controller/visibility_control.h"

// auto-generated by generate_parameter_library
#include "tricycle_controller_parameters.hpp"

namespace tricycle_controller
{
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
Expand Down Expand Up @@ -109,31 +112,14 @@ class TricycleController : public controller_interface::ControllerInterface
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);

std::string traction_joint_name_;
std::string steering_joint_name_;
// Parameters from ROS for tricycle_controller
std::shared_ptr<ParamListener> param_listener_;
Params params_;

// HACK: put into vector to avoid initializing structs because they have no default constructors
std::vector<TractionHandle> traction_joint_;
std::vector<SteeringHandle> steering_joint_;

struct WheelParams
{
double wheelbase = 0.0;
double radius = 0.0;
} wheel_params_;

struct OdometryParams
{
bool open_loop = false;
bool enable_odom_tf = false;
bool odom_only_twist = false; // for doing the pose integration in separate node
std::string base_frame_id = "base_link";
std::string odom_frame_id = "odom";
std::array<double, 6> pose_covariance_diagonal;
std::array<double, 6> twist_covariance_diagonal;
} odom_params_;

bool publish_ackermann_command_ = false;
std::shared_ptr<rclcpp::Publisher<AckermannDrive>> ackermann_command_publisher_ = nullptr;
std::shared_ptr<realtime_tools::RealtimePublisher<AckermannDrive>>
realtime_ackermann_command_publisher_ = nullptr;
Expand Down Expand Up @@ -168,7 +154,6 @@ class TricycleController : public controller_interface::ControllerInterface
SteeringLimiter limiter_steering_;

bool is_halted = false;
bool use_stamped_vel_ = true;

void reset_odometry(
const std::shared_ptr<rmw_request_id_t> request_header,
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1 change: 1 addition & 0 deletions tricycle_controller/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
<author email="[email protected]">Tony Najjar</author>

<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>generate_parameter_library</build_depend>

<depend>ackermann_msgs</depend>
<depend>backward_ros</depend>
Expand Down
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