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Generate Parameter Library for diff_drive_controller #453

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Generate Parameter Library for diff_drive_controller #453

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d7dfa83
Generate parameter library for diff drive
pac48 Jul 21, 2022
808201b
CMake export diff_drive_controller
tylerjw Oct 17, 2022
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51 changes: 29 additions & 22 deletions diff_drive_controller/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ endif()

set(THIS_PACKAGE_INCLUDE_DEPENDS
controller_interface
generate_parameter_library
geometry_msgs
hardware_interface
nav_msgs
Expand All @@ -30,30 +31,27 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()

add_library(${PROJECT_NAME} SHARED
generate_parameter_library(diff_drive_controller_parameters
src/diff_drive_controller_parameter.yaml
)

add_library(diff_drive_controller SHARED
src/diff_drive_controller.cpp
src/odometry.cpp
src/speed_limiter.cpp
)
target_include_directories(${PROJECT_NAME}
target_include_directories(diff_drive_controller
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_target_dependencies(diff_drive_controller ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(diff_drive_controller
diff_drive_controller_parameters
)
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(${PROJECT_NAME} PRIVATE "DIFF_DRIVE_CONTROLLER_BUILDING_DLL")
target_compile_definitions(diff_drive_controller PRIVATE "DIFF_DRIVE_CONTROLLER_BUILDING_DLL")
pluginlib_export_plugin_description_file(controller_interface diff_drive_plugin.xml)

install(DIRECTORY include/
DESTINATION include
)

install(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
)

if(BUILD_TESTING)
find_package(ament_cmake_gmock REQUIRED)
find_package(controller_manager REQUIRED)
Expand All @@ -64,7 +62,7 @@ if(BUILD_TESTING)
ENV config_file=${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_diff_drive_controller.yaml)
target_include_directories(test_diff_drive_controller PRIVATE include)
target_link_libraries(test_diff_drive_controller
${PROJECT_NAME}
diff_drive_controller
)

ament_target_dependencies(test_diff_drive_controller
Expand All @@ -90,13 +88,22 @@ if(BUILD_TESTING)

endif()

ament_export_dependencies(
${THIS_PACKAGE_INCLUDE_DEPENDS}
)
ament_export_include_directories(
include
install(
DIRECTORY include/
DESTINATION include
)
ament_export_libraries(
${PROJECT_NAME}

install(
TARGETS
diff_drive_controller
diff_drive_controller_parameters
EXPORT export_diff_drive_controller
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
INCLUDES DESTINATION include
)

ament_export_targets(export_diff_drive_controller HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()
35 changes: 11 additions & 24 deletions diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,9 @@
#include "realtime_tools/realtime_publisher.h"
#include "tf2_msgs/msg/tf_message.hpp"

#include "diff_drive_controller_parameters.hpp"


namespace diff_drive_controller
{
class DiffDriveController : public controller_interface::ControllerInterface
Expand Down Expand Up @@ -101,35 +104,21 @@ class DiffDriveController : public controller_interface::ControllerInterface
const std::string & side, const std::vector<std::string> & wheel_names,
std::vector<WheelHandle> & registered_handles);

std::vector<std::string> left_wheel_names_;
std::vector<std::string> right_wheel_names_;
// std::vector<std::string> left_wheel_names_;
// std::vector<std::string> right_wheel_names_;
Comment on lines -104 to +108
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Why did we leave these commented out?


std::vector<WheelHandle> registered_left_wheel_handles_;
std::vector<WheelHandle> registered_right_wheel_handles_;

struct WheelParams
{
size_t wheels_per_side = 0;
double separation = 0.0; // w.r.t. the midpoint of the wheel width
double radius = 0.0; // Assumed to be the same for both wheels
double separation_multiplier = 1.0;
double left_radius_multiplier = 1.0;
double right_radius_multiplier = 1.0;
} wheel_params_;

struct OdometryParams
{
bool open_loop = false;
bool position_feedback = true;
bool enable_odom_tf = true;
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_;
// Parameters from ROS for diff_drive_controller
std::shared_ptr<ParamListener> param_listener_;
Params params_;

Odometry odometry_;

// Timeout to consider cmd_vel commands old
std::chrono::milliseconds cmd_vel_timeout_{500};

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;
Expand All @@ -139,8 +128,6 @@ class DiffDriveController : public controller_interface::ControllerInterface
std::shared_ptr<realtime_tools::RealtimePublisher<tf2_msgs::msg::TFMessage>>
realtime_odometry_transform_publisher_ = nullptr;

// Timeout to consider cmd_vel commands old
std::chrono::milliseconds cmd_vel_timeout_{500};

bool subscriber_is_active_ = false;
rclcpp::Subscription<Twist>::SharedPtr velocity_command_subscriber_ = nullptr;
Expand Down
1 change: 1 addition & 0 deletions diff_drive_controller/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
<buildtool_depend>ament_cmake</buildtool_depend>

<depend>controller_interface</depend>
<depend>generate_parameter_library</depend>
<depend>geometry_msgs</depend>
<depend>hardware_interface</depend>
<depend>nav_msgs</depend>
Expand Down
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