-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(nonsmooth_backstep_controller)
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- arc_odometry
- controller_interface
- effort_controllers
- geometry_msgs
- nav_msgs
- nonsmooth_backstep_controller_msgs
- roscpp
- tf
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(arc_odometry REQUIRED)
+find_package(controller_interface REQUIRED)
+find_package(controller_manager REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(realtime_tools REQUIRED)
+find_package(nonsmooth_backstep_controller_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
find_package(Eigen3 REQUIRED)
+add_library(nonsmooth_backstep_controller SHARED
+ src/nonsmooth_backstep_controller.cpp)
+target_compile_features(nonsmooth_backstep_controller PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
+target_include_directories(nonsmooth_backstep_controller PRIVATE
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+ $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>)
+ament_target_dependencies(
+ nonsmooth_backstep_controller
+ "rclcpp"
+ "arc_odometry"
+ "controller_interface"
+ "controller_manager"
+ "geometry_msgs"
+ "nav_msgs"
+ "nonsmooth_backstep_controller_msgs"
+ "realtime_tools"
+ "tf2"
+ "tf2_msgs"
+ "tf2_ros"
+ "Eigen3"
+)
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# geometry_msgs# nav_msgs# nonsmooth_backstep_controller_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(nonsmooth_backstep_controller PRIVATE "NONSMOOTH_BACKSTEP_CONTROLLER_BUILDING_LIBRARY")
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
+pluginlib_export_plugin_description_file(controller_interface nonsmooth_backstep_controller_plugin.xml)
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
- INCLUDE_DIRS include
- LIBRARIES nonsmooth_backstep_controller
- CATKIN_DEPENDS arc_odometry controller_interface effort_controllers geometry_msgs nav_msgs nonsmooth_backstep_controller_msgs roscpp tf
- DEPENDS EIGEN3
+install(
+ DIRECTORY include/
+ DESTINATION include
)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
- include
- ${catkin_INCLUDE_DIRS}
-# TODO: Check names of system library include directories (Eigen3)
- ${EIGEN3_INCLUDE_DIRS}
+install(
+ TARGETS nonsmooth_backstep_controller
+ EXPORT export_${PROJECT_NAME}
+ ARCHIVE DESTINATION lib
+ LIBRARY DESTINATION lib
+ RUNTIME DESTINATION bin
)
-
-## Declare a C++ library
-add_library(${PROJECT_NAME}
- src/nonsmooth_backstep_controller.cpp
+install(PROGRAMS scripts/pose_step.py scripts/pose_step.sh
+ DESTINATION lib/${PROJECT_NAME}
)
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/nonsmooth_backstep_controller_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}
- ${catkin_LIBRARIES}
-# ${Eigen3_LIBRARIES}
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # uncomment the line when a copyright and license is not present in all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # uncomment the line when this package is not in a git repo
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(
+ include
)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
- install(TARGETS ${PROJECT_NAME}
- ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+ament_export_libraries(
+ nonsmooth_backstep_controller
)
-
-## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
- DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
+ament_export_targets(
+ export_${PROJECT_NAME}
)
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_nonsmooth_backstep_controller.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()
/******************************************************************************
- ROS nonsmooth_backstep_controller Package
+ ROS 2 nonsmooth_backstep_controller Package
Non-Smooth Backstepping Controller
- Copyright (C) 2014..2018 Walter Fetter Lages <w.fetter@ieee.org>
+ Copyright (C) 2014..2022 Walter Fetter Lages <w.fetter@ieee.org>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
#include <sys/mman.h>
-#include <boost/assign.hpp>
+#include <rclcpp/logging.hpp>
+#include <hardware_interface/types/hardware_interface_type_values.hpp>
+#include <pluginlib/class_list_macros.hpp>
-#include <pluginlib/class_list_macros.h>
-
-#include <nonsmooth_backstep_controller/nonsmooth_backstep_controller.h>
+#include <nonsmooth_backstep_controller/nonsmooth_backstep_controller.hpp>
#define sqr(x) ((x)*(x))
#define cub(x) ((x)*(x)*(x))
odom_(0.0,std::vector<double>(2)),lambda_(5),gamma_(4)
{
}
-
- NonSmoothBackstepController::~NonSmoothBackstepController(void)
- {
- sub_command_.shutdown();
- sub_parameters_.shutdown();
- }
-
- bool NonSmoothBackstepController::init(hardware_interface::EffortJointInterface *robot,ros::NodeHandle &n)
+
+ CallbackReturn NonSmoothBackstepController::on_init(void)
{
- node_=n;
- robot_=robot;
-
- XmlRpc::XmlRpcValue joint_names;
- if(!node_.getParam("joints",joint_names))
- {
- ROS_ERROR("No 'joints' parameter in controller. (namespace: %s)",node_.getNamespace().c_str());
- return false;
- }
-
- if(joint_names.getType() != XmlRpc::XmlRpcValue::TypeArray)
- {
- ROS_ERROR("The 'joints' parameter is not a struct. (namespace: %s)",node_.getNamespace().c_str());
- return false;
- }
-
- for(int i=0; i < joint_names.size();i++)
- {
- XmlRpc::XmlRpcValue &name_value=joint_names[i];
- if(name_value.getType() != XmlRpc::XmlRpcValue::TypeString)
- {
- ROS_ERROR("Array of joint names should contain only strings. (namespace: %s)",node_.getNamespace().c_str());
- return false;
- }
-
- hardware_interface::JointHandle j=robot->getHandle((std::string)name_value);
- joints_.push_back(j);
- }
-
- std::string odom_frame_id="odom";
- node_.param("odom_frame_id",odom_frame_id,odom_frame_id);
-
- std::string base_frame_id="base_link";
- node_.param("base_frame_id",base_frame_id,base_frame_id);
-
- status_publisher_.reset(new realtime_tools::RealtimePublisher<nonsmooth_backstep_controller_msgs::NonSmoothBackstepControllerStatus>(node_,"status",1));
- status_publisher_->msg_.header.frame_id=odom_frame_id;
-
- odom_publisher_.reset(new realtime_tools::RealtimePublisher<nav_msgs::Odometry>(node_,"odom",100));
- odom_publisher_->msg_.header.frame_id=odom_frame_id;
- odom_publisher_->msg_.child_frame_id=base_frame_id;
- odom_publisher_->msg_.pose.pose.position.z=0;
- odom_publisher_->msg_.pose.pose.orientation.x=0;
- odom_publisher_->msg_.pose.pose.orientation.y=0;
-
- // Fake covariance
- double pose_cov[]={1e-6, 1e-6, 1e-16,1e-16,1e-16,1e-9};
- odom_publisher_->msg_.pose.covariance=boost::assign::list_of
- (pose_cov[0]) (0) (0) (0) (0) (0)
- (0) (pose_cov[1]) (0) (0) (0) (0)
- (0) (0) (pose_cov[2]) (0) (0) (0)
- (0) (0) (0) (pose_cov[3]) (0) (0)
- (0) (0) (0) (0) (pose_cov[4]) (0)
- (0) (0) (0) (0) (0) (pose_cov[5]);
-
- odom_publisher_->msg_.twist.twist.linear.z=0;
- odom_publisher_->msg_.twist.twist.angular.x=0;
- odom_publisher_->msg_.twist.twist.angular.y=0;
-
- //Fake covariance
- double twist_cov[]={1e-6,1e-6,1e-16,1e-16,1e-16,1e-9};
- odom_publisher_->msg_.twist.covariance=boost::assign::list_of
- (twist_cov[0]) (0) (0) (0) (0) (0)
- (0) (twist_cov[1]) (0) (0) (0) (0)
- (0) (0) (twist_cov[2]) (0) (0) (0)
- (0) (0) (0) (twist_cov[3]) (0) (0)
- (0) (0) (0) (0) (twist_cov[4]) (0)
- (0) (0) (0) (0) (0) (twist_cov[5]);
-
- tf_odom_publisher_.reset(new realtime_tools::RealtimePublisher<tf::tfMessage>(node_,"/tf",100));
- tf_odom_publisher_->msg_.transforms.resize(1);
- tf_odom_publisher_->msg_.transforms[0].transform.translation.z=0.0;
- tf_odom_publisher_->msg_.transforms[0].transform.rotation.x=0.0;
- tf_odom_publisher_->msg_.transforms[0].transform.rotation.y=0.0;
- tf_odom_publisher_->msg_.transforms[0].child_frame_id=base_frame_id;
- tf_odom_publisher_->msg_.transforms[0].header.frame_id=odom_frame_id;
-
- sub_command_=node_.subscribe("command",1000,&NonSmoothBackstepController::commandCB,this);
-
- sub_parameters_=node_.subscribe("dynamic_parameters",1000,&NonSmoothBackstepController::parametersCB,this);
-
- double wheelBase;
- if(!node_.getParam("wheel_separation",wheelBase))
+ try
{
- ROS_ERROR("No 'wheel_separation' in controller %s.",node_.getNamespace().c_str());
- return false;
+ auto_declare<std::vector<std::string>>("joints",joints_);
+
+ auto_declare<std::string>("odom_frame_id","odom");
+ auto_declare<std::string>("base_frame_id","base_link");
+ auto_declare<double>("wheel_separation",0.0);
+ auto_declare<std::vector<double>>("wheel_radius",std::vector<double>());
+
+ gamma_[0]=10.0;
+ gamma_[1]=1.0;
+ gamma_[2]=10.0;
+ gamma_[3]=50.0;
+ auto_declare<std::vector<double>>("gamma",gamma_);
+
+ lambda_[0]=200.0;
+ lambda_[1]=6.0;
+ lambda_[2]=6.0;
+ lambda_[3]=500.0;
+ lambda_[4]=1000.0;
+ auto_declare<std::vector<double>>("lambda",lambda_);
+
+ auto_declare<std::vector<double>>("F",std::vector<double>());
+ auto_declare<std::vector<double>>("G",std::vector<double>());
+
+ auto_declare<double>("time_step",0.01);
+
+ auto_declare<int>("priority",sched_get_priority_max(SCHED_FIFO));
}
-
- std::vector<double> wheelRadius(2);
- if(!node_.getParam("wheel_radius",wheelRadius))
+ catch(const std::exception &e)
{
- ROS_ERROR("No 'wheel_radius' in controller %s.",node_.getNamespace().c_str());
- return false;
+ RCLCPP_ERROR_STREAM(node_->get_logger(),"Exception thrown in on_init() with message: " << e.what());
+ return CallbackReturn::ERROR;
}
-
- odom_.setParams(wheelBase,wheelRadius);
-
- gamma_[0]=10.0;
- gamma_[1]=1.0;
- gamma_[2]=10.0;
- gamma_[3]=50.0;
- node_.param("gamma",gamma_,gamma_);
-
- lambda_[0]=200.0;
- lambda_[1]=6.0;
- lambda_[2]=6.0;
- lambda_[3]=500.0;
- lambda_[4]=1000.0;
- node_.param("lambda",lambda_,lambda_);
-
- std::vector<double> FVec;
- if(!node_.getParam("F",FVec))
+
+ return CallbackReturn::SUCCESS;
+ }
+
+ CallbackReturn NonSmoothBackstepController::on_configure(const rclcpp_lifecycle::State & /*previous_state*/)
+ {
+ try
{
- ROS_ERROR("No 'F' in controller %s.",node_.getNamespace().c_str());
- return false;
+ joints_=node_->get_parameter("joints").as_string_array();
+ if(joints_.empty())
+ throw std::runtime_error("'joints' parameter was empty,");
+
+ auto odom_frame_id=node_->get_parameter("odom_frame_id").as_string();
+ auto base_frame_id=node_->get_parameter("base_frame_id").as_string();
+
+ status_publisher_=node_->create_publisher<nonsmooth_backstep_controller_msgs::msg::NonSmoothBackstepControllerStatus>("~/status",rclcpp::SystemDefaultsQoS());
+ rt_status_publisher_=std::make_shared<realtime_tools::RealtimePublisher<nonsmooth_backstep_controller_msgs::msg::NonSmoothBackstepControllerStatus>>(status_publisher_);
+ rt_status_publisher_->msg_.header.frame_id=odom_frame_id;
+
+ odom_publisher_=node_->create_publisher<nav_msgs::msg::Odometry>("~/odom",rclcpp::SystemDefaultsQoS());
+ rt_odom_publisher_=std::make_shared<realtime_tools::RealtimePublisher<nav_msgs::msg::Odometry>>(odom_publisher_);
+ rt_odom_publisher_->msg_.header.frame_id=odom_frame_id;
+ rt_odom_publisher_->msg_.child_frame_id=base_frame_id;
+ rt_odom_publisher_->msg_.pose.pose.position.z=0;
+ rt_odom_publisher_->msg_.pose.pose.orientation.x=0;
+ rt_odom_publisher_->msg_.pose.pose.orientation.y=0;
+
+ // Fake covariance
+ double pose_cov[]={1e-6, 1e-6, 1e-16,1e-16,1e-16,1e-9};
+ rt_odom_publisher_->msg_.pose.covariance={
+ pose_cov[0], 0, 0, 0, 0, 0,
+ 0, pose_cov[1], 0, 0, 0, 0,
+ 0, 0, pose_cov[2], 0, 0, 0,
+ 0, 0, 0, pose_cov[3], 0, 0,
+ 0, 0, 0, 0, pose_cov[4], 0,
+ 0, 0, 0, 0, 0, pose_cov[5]};
+
+ rt_odom_publisher_->msg_.twist.twist.linear.z=0;
+ rt_odom_publisher_->msg_.twist.twist.angular.x=0;
+ rt_odom_publisher_->msg_.twist.twist.angular.y=0;
+
+ //Fake covariance
+ double twist_cov[]={1e-6,1e-6,1e-16,1e-16,1e-16,1e-9};
+ rt_odom_publisher_->msg_.twist.covariance={
+ twist_cov[0], 0, 0, 0, 0, 0,
+ 0, twist_cov[1], 0, 0, 0, 0,
+ 0, 0, twist_cov[2], 0, 0, 0,
+ 0, 0, 0, twist_cov[3], 0, 0,
+ 0, 0, 0, 0, twist_cov[4], 0,
+ 0, 0, 0, 0, 0, twist_cov[5]};
+
+ tf_odom_publisher_=node_->create_publisher<tf2_msgs::msg::TFMessage>("/tf",rclcpp::SystemDefaultsQoS());
+ rt_tf_odom_publisher_=std::make_shared<realtime_tools::RealtimePublisher<tf2_msgs::msg::TFMessage>>(tf_odom_publisher_);
+ rt_tf_odom_publisher_->msg_.transforms.resize(1);
+ rt_tf_odom_publisher_->msg_.transforms[0].transform.translation.z=0.0;
+ rt_tf_odom_publisher_->msg_.transforms[0].transform.rotation.x=0.0;
+ rt_tf_odom_publisher_->msg_.transforms[0].transform.rotation.y=0.0;
+ rt_tf_odom_publisher_->msg_.transforms[0].child_frame_id=base_frame_id;
+ rt_tf_odom_publisher_->msg_.transforms[0].header.frame_id=odom_frame_id;
+
+ using std::placeholders::_1;
+ sub_command_=node_->create_subscription<geometry_msgs::msg::Pose2D>("~/command",1000,
+ std::bind(&NonSmoothBackstepController::commandCB,this,_1));
+
+ sub_parameters_=node_->create_subscription<std_msgs::msg::Float64MultiArray>("~/dynamics_parameters",1000,
+ std::bind(&NonSmoothBackstepController::parametersCB,this,_1));
+
+ double wheelBase;
+ if(!node_->get_parameter("wheel_separation",wheelBase))
+ throw std::runtime_error("No 'wheel_separation' parameter.");
+
+ std::vector<double> wheelRadius(2);
+ if(!node_->get_parameter("wheel_radius",wheelRadius))
+ throw std::runtime_error("No 'wheel_radius' parameter.");
+
+ odom_.setParams(wheelBase,wheelRadius);
+
+ if(!node_->get_parameter("gamma",gamma_))
+ throw std::runtime_error("No 'gamma' parameter.");
+
+ if(!node_->get_parameter("lambda",lambda_))
+ throw std::runtime_error("No 'lambda' parameter.");
+
+ std::vector<double> FVec;
+ if(!node_->get_parameter("F",FVec))
+ throw std::runtime_error("No 'F' parameter.");
+ F_=Eigen::Map<Eigen::Matrix2d>(FVec.data(),2,2).transpose();
+
+ std::vector<double> GVec;
+ if(!node_->get_parameter("G",GVec))
+ throw std::runtime_error("No 'G' parameter.");
+ Ginv_=Eigen::Map<Eigen::Matrix2d>(GVec.data(),2,2).transpose().inverse();
+
+ time_step_=node_->get_parameter("time_step").as_double();
}
- F_=Eigen::Map<Eigen::Matrix2d>(FVec.data(),2,2).transpose();
-
- std::vector<double> GVec;
- if(!node_.getParam("G",GVec))
+ catch(const std::exception &e)
{
- ROS_ERROR("No 'G' in controller %s.",node_.getNamespace().c_str());
- return false;
+ RCLCPP_ERROR_STREAM(node_->get_logger(),"Exception thrown in on_confiture(): " << e.what());
+ return CallbackReturn::ERROR;
}
- Ginv_=Eigen::Map<Eigen::Matrix2d>(GVec.data(),2,2).transpose().inverse();
- node_.param("time_step",time_step_,0.01);
+ if(!node_->get_parameter("priority",priority_))
+ RCLCPP_WARN(node_->get_logger(),"No 'priority' configured for controller. Using highest possible priority.");
- return true;
+ return CallbackReturn::SUCCESS;
}
- void NonSmoothBackstepController::starting(const ros::Time& time)
+ controller_interface::InterfaceConfiguration NonSmoothBackstepController::command_interface_configuration(void) const
+ {
+ controller_interface::InterfaceConfiguration config;
+ config.type=controller_interface::interface_configuration_type::INDIVIDUAL;
+
+ for(const auto &joint : joints_)
+ config.names.push_back(joint + "/" + hardware_interface::HW_IF_EFFORT);
+
+ return config;
+ }
+
+ controller_interface::InterfaceConfiguration NonSmoothBackstepController::state_interface_configuration(void) const
+ {
+ controller_interface::InterfaceConfiguration config;
+ config.type=controller_interface::interface_configuration_type::INDIVIDUAL;
+
+ for(const auto &joint : joints_)
+ config.names.push_back(joint + "/" + hardware_interface::HW_IF_POSITION);
+
+ return config;
+ }
+
+ CallbackReturn NonSmoothBackstepController::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
{
Eigen::Vector3d x;
x.setZero();
odom_.setPose(x);
xRef_.setZero();
eta_.setZero();
- lastSamplingTime_=time;
+ lastSamplingTime_=node_->get_clock()->now();
for(unsigned int i=0;i < joints_.size();i++)
- {
- phi_[i]=joints_[i].getPosition();
- }
-
+ phi_[i]=state_interfaces_[i].get_value();
+
struct sched_param param;
- if(!node_.getParam("priority",param.sched_priority))
- {
- ROS_WARN("No 'priority' configured for controller %s. Using highest possible priority.",node_.getNamespace().c_str());
- param.sched_priority=sched_get_priority_max(SCHED_FIFO);
- }
+ param.sched_priority=priority_;
if(sched_setscheduler(0,SCHED_FIFO,¶m) == -1)
- {
- ROS_WARN("Failed to set real-time scheduler.");
- return;
- }
+ RCLCPP_WARN(node_->get_logger(),"Failed to set real-time scheduler.");
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1)
- ROS_WARN("Failed to lock memory.");
+ RCLCPP_WARN(node_->get_logger(),"Failed to lock memory.");
+ return CallbackReturn::SUCCESS;
}
-
- void NonSmoothBackstepController::update(const ros::Time& time,
- const ros::Duration& duration)
+
+ CallbackReturn NonSmoothBackstepController::on_deactivate(const rclcpp_lifecycle::State &/*previous_state*/)
{
- ros::Duration dt=time-lastSamplingTime_;
-
- if(fabs(dt.toSec()-time_step_) > time_step_/20) return;
+ for(unsigned int i=0;i < joints_.size();i++)
+ command_interfaces_[i].set_value(0);
+
+ return CallbackReturn::SUCCESS;
+ }
+
+
+ controller_interface::return_type NonSmoothBackstepController::update(void)
+ {
+ auto time=node_->get_clock()->now();
+ auto dt=time-lastSamplingTime_;
+
+ if(dt.seconds() < time_step_) return controller_interface::return_type::OK;
lastSamplingTime_=time;
-
+
// Incremental encoders sense angular displacement and
// not velocity
// phi[0] is the left wheel angular displacement
// phi[1] is the right wheel angular displacement
Eigen::Vector2d deltaPhi=-phi_;
for(unsigned int i=0;i < joints_.size();i++)
- {
- phi_[i]=joints_[i].getPosition();
- }
+ phi_[i]=state_interfaces_[i].get_value();
deltaPhi+=phi_;
odom_.update(deltaPhi,dt);
-
+
Eigen::Vector3d x;
odom_.getPose(x);
-
+
Eigen::Vector2d u;
odom_.getVelocity(u);
+ auto command=rt_command_.readFromRT();
+ if(command && *command)
+ {
+ xRef_[0]=(*command)->x;
+ xRef_[1]=(*command)->y;
+ xRef_[2]=(*command)->theta;
+ }
+
// Change of coordinates
Eigen::Matrix3d R;
R << cos(xRef_[2]), sin(xRef_[2]), 0.0,
-sin(xRef_[2]), cos(xRef_[2]), 0.0,
0.0, 0.0, 1.0;
Eigen::Vector3d xBar=R*(x-xRef_);
-
+
// Discontinuous transformation
double e=sqrt(sqr(xBar[0])+sqr(xBar[1]));
double psi=atan2(xBar[1],xBar[0]);
// deta=(eta(k)-eta(k-1)/dt
Eigen::Vector2d deta=-eta_;
-
+
// Backstepping
eta_[0]=-gamma_[0]*e*cos(alpha);
- if(fabs(alpha ) > DBL_EPSILON) eta_[1]=-gamma_[1]*alpha
+ if(fabs(alpha ) > std::numeric_limits<double>::epsilon()) eta_[1]=-gamma_[1]*alpha
-gamma_[0]*sin(alpha)*cos(alpha)+gamma_[0]*lambda_[2]*psi*sin(alpha)/
lambda_[1]/alpha*cos(alpha);
else eta_[1]=gamma_[0]*lambda_[2]*psi/lambda_[1];
deta+=eta_;
- deta/=dt.toSec();
-
+ deta/=dt.seconds();
+
Eigen::Vector2d eb=u-eta_;
-
+
Eigen::Vector2d vBar;
- if(fabs(e) > DBL_EPSILON) vBar[0]=-gamma_[2]*eb[0]
+ if(fabs(e) > std::numeric_limits<double>::epsilon()) vBar[0]=-gamma_[2]*eb[0]
-lambda_[0]/lambda_[3]*e*cos(alpha)
+lambda_[1]/lambda_[3]*alpha*sin(alpha)/e
-lambda_[2]/lambda_[3]*psi*sin(alpha)/e;
Eigen::Vector2d v=vBar+deta;
+ auto param=rt_param_.readFromRT();
+ if(param && *param)
+ {
+ // data[0]=f12, data[1]=f21, data[2]=g11, data[3]=g21
+ // data[4]=Pf12, data[5]=Pkf21, data[6]=Pg11, data[7]=Pg21
+ // F= [0 f12
+ // f21 0]
+ // Ginv=[0.5/g11 0.5/g21
+ // 0.5/g11 -0.5/g21]
+ if((*param)->data[4] < 1e-3) F_(0,1)=(*param)->data[0];
+ if((*param)->data[5] < 1e-3) F_(1,0)=(*param)->data[1];
+ if((*param)->data[6] < 1e-3)
+ {
+ Ginv_(0,0)=0.5/(*param)->data[2];
+ Ginv_(1,0)=0.5/(*param)->data[2];
+ }
+ if((*param)->data[7] < 1e-3)
+ {
+ Ginv_(0,1)=0.5/(*param)->data[3];
+ Ginv_(1,1)=-0.5/(*param)->data[3];
+ }
+ }
+
// Linearization
Eigen::Vector2d uf(u[0]*u[1],sqr(u[1]));
Eigen::Vector2d torque=Ginv_*(v-F_*uf);
-
+
// Apply torques
for(unsigned int i=0;i < joints_.size();i++)
- {
- joints_[i].setCommand(torque[i]);
- }
-
- if(status_publisher_ && status_publisher_->trylock())
+ command_interfaces_[i].set_value(torque[i]);
+
+ if(rt_status_publisher_ && rt_status_publisher_->trylock())
{
- status_publisher_->msg_.header.stamp=time;
-
- status_publisher_->msg_.set_point.x=xRef_[0];
- status_publisher_->msg_.set_point.y=xRef_[1];
- status_publisher_->msg_.set_point.theta=xRef_[2];
-
- status_publisher_->msg_.process_value.x=x[0];
- status_publisher_->msg_.process_value.y=x[1];
- status_publisher_->msg_.process_value.theta=x[2];
-
- status_publisher_->msg_.process_value_dot.x=u[0]*cos(x[2]);
- status_publisher_->msg_.process_value_dot.y=u[0]*sin(x[2]);
- status_publisher_->msg_.process_value_dot.theta=u[1];
-
- status_publisher_->msg_.error.x=xRef_[0]-x[0];
- status_publisher_->msg_.error.y=xRef_[1]-x[1];
- status_publisher_->msg_.error.theta=xRef_[2]-x[2];
-
- status_publisher_->msg_.time_step=dt.toSec();
-
+ rt_status_publisher_->msg_.header.stamp=time;
+
+ rt_status_publisher_->msg_.set_point.x=xRef_[0];
+ rt_status_publisher_->msg_.set_point.y=xRef_[1];
+ rt_status_publisher_->msg_.set_point.theta=xRef_[2];
+
+ rt_status_publisher_->msg_.process_value.x=x[0];
+ rt_status_publisher_->msg_.process_value.y=x[1];
+ rt_status_publisher_->msg_.process_value.theta=x[2];
+
+ rt_status_publisher_->msg_.process_value_dot.x=u[0]*cos(x[2]);
+ rt_status_publisher_->msg_.process_value_dot.y=u[0]*sin(x[2]);
+ rt_status_publisher_->msg_.process_value_dot.theta=u[1];
+
+ rt_status_publisher_->msg_.error.x=xRef_[0]-x[0];
+ rt_status_publisher_->msg_.error.y=xRef_[1]-x[1];
+ rt_status_publisher_->msg_.error.theta=xRef_[2]-x[2];
+
+ rt_status_publisher_->msg_.time_step=dt.seconds();
+
for(int i=0;i < torque.size();i++)
- status_publisher_->msg_.command[i]=torque[i];
-
- for(int i=0;i < lambda_.size();i++)
- status_publisher_->msg_.lambda[i]=lambda_[i];
-
- for(int i=0;i < gamma_.size();i++)
- status_publisher_->msg_.gamma[i]=gamma_[i];
-
- status_publisher_->msg_.polar_error.range=e;
- status_publisher_->msg_.polar_error.angle=psi;
- status_publisher_->msg_.polar_error.orientation=alpha;
-
+ rt_status_publisher_->msg_.command[i]=torque[i];
+
+ for(unsigned int i=0;i < lambda_.size();i++)
+ rt_status_publisher_->msg_.v_lambda[i]=lambda_[i];
+
+ for(unsigned int i=0;i < gamma_.size();i++)
+ rt_status_publisher_->msg_.gamma[i]=gamma_[i];
+
+ rt_status_publisher_->msg_.polar_error.range=e;
+ rt_status_publisher_->msg_.polar_error.angle=psi;
+ rt_status_publisher_->msg_.polar_error.orientation=alpha;
+
for(int i=0;i < eta_.size();i++)
- status_publisher_->msg_.backstep_set_point[i]=eta_[i];
+ rt_status_publisher_->msg_.backstep_set_point[i]=eta_[i];
for(int i=0;i < deta.size();i++)
- status_publisher_->msg_.backstep_set_point_dot[i]=deta[i];
-
+ rt_status_publisher_->msg_.backstep_set_point_dot[i]=deta[i];
+
for(int i=0;i < u.size();i++)
- status_publisher_->msg_.backstep_process_value[i]=u[i];
-
+ rt_status_publisher_->msg_.backstep_process_value[i]=u[i];
+
for(int i=0;i < eb.size();i++)
- status_publisher_->msg_.backstep_error[i]=eb[i];
-
+ rt_status_publisher_->msg_.backstep_error[i]=eb[i];
+
for(int i=0;i < vBar.size();i++)
- status_publisher_->msg_.backstep_command[i]=vBar[i];
-
+ rt_status_publisher_->msg_.backstep_command[i]=vBar[i];
+
for(int i=0;i < v.size();i++)
- status_publisher_->msg_.linear_dynamics_command[i]=v[i];
-
- status_publisher_->unlockAndPublish();
+ rt_status_publisher_->msg_.linear_dynamics_command[i]=v[i];
+
+ rt_status_publisher_->unlockAndPublish();
}
-
- if(odom_publisher_ && odom_publisher_->trylock())
+
+ if(rt_odom_publisher_ && rt_odom_publisher_->trylock())
{
- odom_publisher_->msg_.header.stamp=time;
+ rt_odom_publisher_->msg_.header.stamp=time;
- odom_publisher_->msg_.pose.pose.position.x=x[0];
- odom_publisher_->msg_.pose.pose.position.y=x[1];
- odom_publisher_->msg_.pose.pose.orientation.z=sin(x[2]/2);
- odom_publisher_->msg_.pose.pose.orientation.w=cos(x[2]/2);
+ rt_odom_publisher_->msg_.pose.pose.position.x=x[0];
+ rt_odom_publisher_->msg_.pose.pose.position.y=x[1];
- odom_publisher_->msg_.twist.twist.linear.x=u[0]*cos(x[2]);
- odom_publisher_->msg_.twist.twist.linear.y=u[0]*sin(x[2]);
- odom_publisher_->msg_.twist.twist.angular.z=u[1];
+ rt_odom_publisher_->msg_.pose.pose.orientation.z=sin(x[2]/2);
+ rt_odom_publisher_->msg_.pose.pose.orientation.w=cos(x[2]/2);
- odom_publisher_->unlockAndPublish();
+ rt_odom_publisher_->msg_.twist.twist.linear.x=u[0]*cos(x[2]);
+ rt_odom_publisher_->msg_.twist.twist.linear.y=u[0]*sin(x[2]);
+ rt_odom_publisher_->msg_.twist.twist.angular.z=u[1];
+
+ rt_odom_publisher_->unlockAndPublish();
}
-
- if(tf_odom_publisher_ && tf_odom_publisher_->trylock())
+
+ if(rt_tf_odom_publisher_ && rt_tf_odom_publisher_->trylock())
{
- geometry_msgs::TransformStamped &odom_frame=
- tf_odom_publisher_->msg_.transforms[0];
+ geometry_msgs::msg::TransformStamped &odom_frame=
+ rt_tf_odom_publisher_->msg_.transforms[0];
odom_frame.header.stamp=time;
odom_frame.transform.translation.x=x[0];
odom_frame.transform.translation.y=x[1];
odom_frame.transform.rotation.z=sin(x[2]/2);
odom_frame.transform.rotation.w=cos(x[2]/2);
- tf_odom_publisher_->unlockAndPublish();
+ rt_tf_odom_publisher_->unlockAndPublish();
}
+ return controller_interface::return_type::OK;
}
-
- void NonSmoothBackstepController::commandCB(const geometry_msgs::Pose2D::ConstPtr &command)
+
+ void NonSmoothBackstepController::commandCB(const geometry_msgs::msg::Pose2D::SharedPtr command)
{
- xRef_[0]=command->x;
- xRef_[1]=command->y;
- xRef_[2]=command->theta;
+ rt_command_.writeFromNonRT(command);
}
-
- void NonSmoothBackstepController::parametersCB(const std_msgs::Float64MultiArray::ConstPtr ¶m)
+
+ void NonSmoothBackstepController::parametersCB(const std_msgs::msg::Float64MultiArray::SharedPtr param)
{
- // data[0]=f12, data[1]=f21, data[2]=g11, data[3]=g21
- // data[4]=Pf12, data[5]=Pkf21, data[6]=Pg11, data[7]=Pg21
- // F= [0 f12
- // f21 0]
- // Ginv=[0.5/g11 0.5/g21
- // 0.5/g11 -0.5/g21]
- if(param->data[4] < 1e-3) F_(0,1)=param->data[0];
- if(param->data[5] < 1e-3) F_(1,0)=param->data[1];
- if(param->data[6] < 1e-3)
- {
- Ginv_(0,0)=0.5/param->data[2];
- Ginv_(1,0)=0.5/param->data[2];
- }
- if(param->data[7] < 1e-3)
- {
- Ginv_(0,1)=0.5/param->data[3];
- Ginv_(1,1)=-0.5/param->data[3];
- }
+ rt_param_.writeFromNonRT(param);
}
}
PLUGINLIB_EXPORT_CLASS(effort_controllers::NonSmoothBackstepController,
- controller_interface::ControllerBase)
+ controller_interface::ControllerInterface)
projects / nonsmooth_backstep_controller.git / commitdiff