--- /dev/null
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
--- /dev/null
+cmake_minimum_required(VERSION 2.8.3)
+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
+ controller_interface
+ effort_controllers
+ geometry_msgs
+ message_generation
+ message_runtime
+ nav_msgs
+ roscpp
+ tf
+)
+find_package(cmake_modules REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+find_package(Eigen REQUIRED)
+
+
+## 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 run_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 run_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
+ NonSmoothBackstepControllerStatus.msg
+ PosePolar.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
+ std_msgs
+ geometry_msgs
+ nav_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 run_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
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## 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 you 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 controller_interface effort_controllers geometry_msgs message_generation message_runtime nav_msgs roscpp tf
+ DEPENDS Eigen
+)
+
+###########
+## 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 (Eigen)
+ ${Eigen_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+add_library(${PROJECT_NAME}
+ src/nonsmooth_backstep_controller.cpp
+)
+
+## 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} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}
+ ${catkin_LIBRARIES}
+ ${Eigen_LIBRARIES}
+)
+
+#############
+## 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
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+ ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+)
+
+## 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)
--- /dev/null
+twil.yaml
\ No newline at end of file
--- /dev/null
+# Watch-out: The indentation here is relevant to the semantic!
+
+joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 100
+
+nonsmooth_backstep_controller:
+ type: effort_controllers/NonSmoothBackstepController
+ joints:
+ - left_wheel_joint
+ - right_wheel_joint
+ F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
+ G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
+ lambda: [200.0, 6.0, 6.0, 500.0, 1000.0]
+ gamma: [10.0, 1.0, 10.0, 50.0]
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+ odom_frame_id: "odom"
+ base_frame_id: "twil_origin"
+ priority: 99
+ time_step: 0.01
--- /dev/null
+# Watch-out: The indentation here is relevant to the semantic!
+
+joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 100
+
+nonsmooth_backstep_controller:
+ type: effort_controllers/NonSmoothBackstepController
+ joints:
+ - left_wheel_joint
+ - right_wheel_joint
+ F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
+ G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
+ lambda: [200.0, 40.0, 40.0, 500.0, 1000.0]
+ gamma: [10.0, 1.0, 10.0, 50.0]
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+ odom_frame_id: "odom"
+ base_frame_id: "twil_origin"
+ priority: 99
+ time_step: 0.01
--- /dev/null
+/******************************************************************************
+ ROS nonsmooth_backstep_controller Package
+ Non-Smooth Backstepping Controller
+ Copyright (C) 2014..2018 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
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#ifndef NONSMOOTH_BACKSTEP_CONTROLLER_NONSMOOTH_BACKSTEP_CONTROLLER_H
+#define NONSMOOTH_BACKSTEP_CONTROLLER_NONSMOOTH_BACKSTEP_CONTROLLER_H
+
+#include <cstddef>
+#include <vector>
+#include <string>
+
+#include <Eigen/Dense>
+#include <boost/scoped_ptr.hpp>
+
+#include <ros/node_handle.h>
+
+#include <std_msgs/Float64MultiArray.h>
+#include <geometry_msgs/Pose2D.h>
+#include <nav_msgs/Odometry.h>
+#include <tf/tfMessage.h>
+
+#include <hardware_interface/joint_command_interface.h>
+#include <controller_interface/controller.h>
+#include <realtime_tools/realtime_publisher.h>
+
+#include <nonsmooth_backstep_controller/NonSmoothBackstepControllerStatus.h>
+
+namespace effort_controllers
+{
+ class NonSmoothBackstepController: public controller_interface::
+ Controller<hardware_interface::EffortJointInterface>
+ {
+ public:
+ NonSmoothBackstepController(void);
+ ~NonSmoothBackstepController(void);
+
+ bool init(hardware_interface::EffortJointInterface *robot,
+ ros::NodeHandle &n);
+ void starting(const ros::Time& time);
+ void update(const ros::Time& time,const ros::Duration& duration);
+
+ private:
+ ros::NodeHandle node_;
+ hardware_interface::EffortJointInterface *robot_;
+ std::vector<hardware_interface::JointHandle> joints_;
+
+ boost::scoped_ptr<realtime_tools::RealtimePublisher
+ <nonsmooth_backstep_controller::NonSmoothBackstepControllerStatus>
+ > status_publisher_ ;
+
+ boost::shared_ptr<realtime_tools::RealtimePublisher
+ <nav_msgs::Odometry> > odom_publisher_;
+ boost::shared_ptr<realtime_tools::RealtimePublisher
+ <tf::tfMessage> > tf_odom_publisher_;
+
+ ros::Subscriber sub_command_;
+ ros::Subscriber sub_parameters_;
+
+ Eigen::Matrix2d Ginv_;
+ Eigen::Matrix2d F_;
+
+ std::vector<double> wheelRadius_;
+ double wheelBase_;
+
+ Eigen::Vector3d x_;
+ Eigen::Vector3d xRef_;
+
+ Eigen::Vector2d eta_;
+
+ double time_step_;
+ ros::Time lastSamplingTime_;
+
+ Eigen::Vector2d phi_;
+
+ std::vector<double> lambda_;
+ std::vector<double> gamma_;
+
+ void commandCB(const geometry_msgs::Pose2D::ConstPtr &command);
+ void parametersCB(const std_msgs::Float64MultiArray::ConstPtr &command);
+ };
+}
+#endif
--- /dev/null
+<launch>
+
+ <node name="ident" pkg="twil_ident" type="ident" output="screen">
+ <remap from="ident/dynamic_parameters" to="nonsmooth_backstep_controller/dynamic_parameters"/>
+ </node>
+
+</launch>
--- /dev/null
+<launch>
+ <arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="wam" default="false"/>
+
+ <include file="$(find twil_description)/launch/gazebo.launch" >
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+ <arg name="wam" value="$(arg wam)"/>
+ </include>
+
+ <include file="$(find nonsmooth_backstep_controller)/launch/nonsmooth_backstep.launch" />
+
+</launch>
--- /dev/null
+<launch>
+ <arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="wam" default="false"/>
+
+ <remap from="/command" to="/nonsmooth_backstep_controller/command" />
+
+ <include file="$(find twil_description)/launch/gazebo.launch" >
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+ <arg name="wam" value="$(arg wam)"/>
+ </include>
+
+ <include file="$(find nonsmooth_backstep_controller)/launch/nonsmooth_backstep.launch" />
+
+ <node name="eight_trajectory" pkg="pose2d_trajectories" type="eight_trajectory" respawn="false" output="screen" args="_x:=0.0 _y:=-0.5 _radius:=1.0 _ang_vel:=0.1"/>
+
+ <node name="pose2d_stamp" pkg="pose2d_trajectories" type="pose2d_stamp" respawn="false" output="screen" args="_frame_id:=map" />
+
+ <node pkg="tf2_ros" type="static_transform_publisher" name="odom_publisher" args="0 0 0 0 0 0 1 map odom" />
+
+ <include file="$(find twil_description)/launch/display.launch" />
+
+</launch>
--- /dev/null
+<launch>
+ <rosparam file="$(find nonsmooth_backstep_controller)/config/nonsmooth_backstep_controller.yaml" command="load"/>
+
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+ output="screen" args="joint_state_controller nonsmooth_backstep_controller"/>
+</launch>
--- /dev/null
+Header header
+geometry_msgs/Pose2D set_point
+geometry_msgs/Pose2D process_value
+geometry_msgs/Pose2D process_value_dot
+geometry_msgs/Pose2D error
+float64 time_step
+float64[2] command
+float64[5] lambda
+float64[4] gamma
+PosePolar polar_error
+float64[2] backstep_set_point
+float64[2] backstep_set_point_dot
+float64[2] backstep_process_value
+float64[2] backstep_error
+float64[2] backstep_command
+float64[2] linear_dynamics_command
--- /dev/null
+float64 range
+float64 angle
+float64 orientation
--- /dev/null
+<library path="lib/libnonsmooth_backstep_controller">
+
+ <class name="effort_controllers/NonSmoothBackstepController"
+ type="effort_controllers::NonSmoothBackstepController"
+ base_class_type="controller_interface::ControllerBase">
+ <description>
+ The NonSmoothBackstepController implements a non-smooth controller
+ based on a discontinuous transformation and backstepping. A feedback
+ linearization of the mobile robot dynamic model is also performed. The
+ inputs to the controller are the reference Cartesian pose. It expects a
+ EffortJointInterface type of hardware interface.
+ </description>
+ </class>
+
+</library>
--- /dev/null
+<?xml version="1.0"?>
+<package>
+ <name>nonsmooth_backstep_controller</name>
+ <version>3.0.0</version>
+ <description>The nonsmooth_backstep_controller package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>GPLv3</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/nonsmooth_backstep_controller</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+ <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>Eigen</build_depend>
+ <build_depend>controller_interface</build_depend>
+ <build_depend>effort_controllers</build_depend>
+ <build_depend>geometry_msgs</build_depend>
+ <build_depend>message_generation</build_depend>
+ <build_depend>message_runtime</build_depend>
+ <build_depend>nav_msgs</build_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>tf</build_depend>
+ <run_depend>Eigen</run_depend>
+ <run_depend>controller_interface</run_depend>
+ <run_depend>effort_controllers</run_depend>
+ <run_depend>geometry_msgs</run_depend>
+ <run_depend>message_generation</run_depend>
+ <run_depend>message_runtime</run_depend>
+ <run_depend>nav_msgs</run_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>tf</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+ <controller_interface plugin="${prefix}/nonsmooth_backstep_controller_plugins.xml"/>
+ </export>
+</package>
--- /dev/null
+#!/usr/bin/python
+
+import sys
+import time
+
+import rospy
+from geometry_msgs.msg import Pose2D
+
+def step():
+ if len(sys.argv) < 4:
+ print 'pose_step.py x y theta'
+ exit()
+ pose=Pose2D()
+ pose.x=float(sys.argv[1])
+ pose.y=float(sys.argv[2])
+ pose.theta=float(sys.argv[3])
+
+ pub=rospy.Publisher('/nonsmooth_backstep_controller/command', Pose2D, queue_size=1)
+
+ rospy.init_node('pose_step',anonymous=True)
+
+ pub.publish(pose)
+ time.sleep(1)
+
+ pub.publish(pose)
+ time.sleep(1)
+
+if __name__ == '__main__':
+ try:
+ step()
+ except rospy.ROSInterruptException:
+ pass
--- /dev/null
+#!/bin/bash
+
+rostopic pub -1 /nonsmooth_backstep_controller/command geometry_msgs/Pose2D "{x: $1, y: $2, theta: $3}"
--- /dev/null
+/******************************************************************************
+ ROS nonsmooth_backstep_controller Package
+ Non-Smooth Backstepping Controller
+ Copyright (C) 2014..2018 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
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#include <sys/mman.h>
+
+#include <boost/assign.hpp>
+
+#include <pluginlib/class_list_macros.h>
+
+#include <nonsmooth_backstep_controller/nonsmooth_backstep_controller.h>
+
+#define sqr(x) (x*x)
+#define cub(x) (x*x*x)
+
+namespace effort_controllers
+{
+ NonSmoothBackstepController::NonSmoothBackstepController(void):
+ wheelRadius_(2),lambda_(5),gamma_(4)
+ {
+ }
+
+ NonSmoothBackstepController::~NonSmoothBackstepController(void)
+ {
+ sub_command_.shutdown();
+ sub_parameters_.shutdown();
+ }
+
+ bool NonSmoothBackstepController::init(hardware_interface::EffortJointInterface *robot,ros::NodeHandle &n)
+ {
+ 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::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);
+
+ if(!node_.getParam("wheel_separation",wheelBase_))
+ {
+ ROS_ERROR("No 'wheel_separation' in controller %s.",node_.getNamespace().c_str());
+ return false;
+ }
+
+ wheelRadius_.resize(joints_.size());
+ if(!node_.getParam("wheel_radius",wheelRadius_))
+ {
+ ROS_ERROR("No 'wheel_radius' in controller %s.",node_.getNamespace().c_str());
+ return false;
+ }
+
+ 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))
+ {
+ ROS_ERROR("No 'F' in controller %s.",node_.getNamespace().c_str());
+ return false;
+ }
+ F_=Eigen::Map<Eigen::Matrix2d>(FVec.data(),2,2).transpose();
+
+ std::vector<double> GVec;
+ if(!node_.getParam("G",GVec))
+ {
+ ROS_ERROR("No 'G' in controller %s.",node_.getNamespace().c_str());
+ return false;
+ }
+ Ginv_=Eigen::Map<Eigen::Matrix2d>(GVec.data(),2,2).transpose().inverse();
+
+ node_.param("time_step",time_step_,0.01);
+
+ return true;
+ }
+
+ void NonSmoothBackstepController::starting(const ros::Time& time)
+ {
+ x_.setZero();
+ xRef_.setZero();
+ eta_.setZero();
+ lastSamplingTime_=time;
+ for(unsigned int i=0;i < joints_.size();i++)
+ {
+ phi_[i]=joints_[i].getPosition();
+ }
+
+ 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);
+ }
+ if(sched_setscheduler(0,SCHED_FIFO,¶m) == -1)
+ {
+ ROS_WARN("Failed to set real-time scheduler.");
+ return;
+ }
+ if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1)
+ ROS_WARN("Failed to lock memory.");
+ }
+
+ void NonSmoothBackstepController::update(const ros::Time& time,
+ const ros::Duration& duration)
+ {
+ double dt=time.toSec()-lastSamplingTime_.toSec();
+
+ if(fabs(dt-time_step_) > time_step_/20) return;
+ 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();
+ }
+ deltaPhi+=phi_;
+
+ // Estimate pose by odometry
+ Eigen::Vector2d deltaU;
+ deltaU << (deltaPhi[0]*wheelRadius_[0]+deltaPhi[1]*wheelRadius_[1])/2.0,
+ (deltaPhi[1]*wheelRadius_[1]-deltaPhi[0]*wheelRadius_[0])/wheelBase_;
+
+ double deltaS=(fabs(deltaU[1]) > DBL_EPSILON)?
+ deltaU[0]*sin(deltaU[1]/2)/(deltaU[1]/2):deltaU[0];
+
+ Eigen::Vector3d deltaX;
+ deltaX << deltaS*cos(x_[2]+deltaU[1]/2.0),
+ deltaS*sin(x_[2]+deltaU[1]/2.0),
+ deltaU[1];
+
+ x_+=deltaX;
+
+ Eigen::Vector2d u=deltaU/dt;
+
+ // 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]);
+ double alpha=xBar[2]-psi;
+
+ // 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
+ -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;
+
+ Eigen::Vector2d eb=u-eta_;
+
+ Eigen::Vector2d vBar;
+ if(fabs(e) > DBL_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;
+ else vBar[0]=-gamma_[2]*eb[0]-lambda_[0]/lambda_[3]*e*cos(alpha);
+ vBar[1]=-gamma_[3]*eb[1]-lambda_[1]/lambda_[4]*alpha;
+
+ Eigen::Vector2d v=vBar+deta;
+
+ // 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())
+ {
+ 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=deltaX[0]/dt;
+ status_publisher_->msg_.process_value_dot.y=deltaX[1]/dt;
+ status_publisher_->msg_.process_value_dot.theta=deltaX[2]/dt;
+
+ 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;
+
+ 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;
+
+ for(int i=0;i < eta_.size();i++)
+ 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];
+
+ for(int i=0;i < u.size();i++)
+ 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];
+
+ for(int i=0;i < vBar.size();i++)
+ 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();
+ }
+
+ if(odom_publisher_ && odom_publisher_->trylock())
+ {
+ 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);
+
+ odom_publisher_->msg_.twist.twist.linear.x=deltaX[0]/dt;
+ odom_publisher_->msg_.twist.twist.linear.y=deltaX[1]/dt;
+ odom_publisher_->msg_.twist.twist.angular.z=deltaX[2]/dt;
+
+ odom_publisher_->unlockAndPublish();
+ }
+
+ if(tf_odom_publisher_ && tf_odom_publisher_->trylock())
+ {
+ geometry_msgs::TransformStamped &odom_frame=
+ 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();
+ }
+ }
+
+ void NonSmoothBackstepController::commandCB(const geometry_msgs::Pose2D::ConstPtr &command)
+ {
+ xRef_[0]=command->x;
+ xRef_[1]=command->y;
+ xRef_[2]=command->theta;
+ }
+
+ void NonSmoothBackstepController::parametersCB(const std_msgs::Float64MultiArray::ConstPtr ¶m)
+ {
+ // 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];
+ }
+ }
+
+}
+
+PLUGINLIB_EXPORT_CLASS(effort_controllers::NonSmoothBackstepController,
+ controller_interface::ControllerBase)
projects / nonsmooth_backstep_controller.git / commitdiff