RosController

ROS implementation of the innerloops controllers. Based on a desired reference computes the force or torque to be applied.

#include <ros_controller.h>

Public Functions

	Name
	RosController(ros::NodeHandle & nh, std::string controller_name, std::string refCallback_topic, double * state, double * force_or_torque, double frequency) Constructor of a innerloop controller.
	RosController(ros::NodeHandle & nh, std::string controller_name, std::string refCallback_topic, double * state, double * state_dot, double * force_or_torque, double frequency) Constructor of a innerloop controller.
virtual double	computeCommand() Core function. Computes the PID output.
void	setCircularUnits(const bool & flag) Setter function for the circular units flag.
void	setPositiveOutput(const bool & flag) Set the Positive Output object.
std::string	getControllerName() const Get the Controller Name object.
void	setFFGainsPID(const float & kff, const float & kff_d, const float & kff_lin_drag, const float kff_quad_drag) Set the Feedforwar gains P I D object.
void	setGainsPID(const float & kp, const float & ki, const float & kd) Set the Gains P I D object.
void	setLimitBoundsPID(const float & max_out, const float & min_out)

Protected Functions

	Name
void	refCallback(const std_msgs::Float64 & ptr) Callback function. Saturates the value if boundaries exist.
void	init(ros::NodeHandle & nh, std::string controller_name, std::string refCallback_topic) Initialize function. Reads the parameters, creates a pid controller if any gain is different from zero and subscribes to the relevant topic.
virtual bool	validRef() Check if the reference is new.

Protected Attributes

	Name
ros::Duration	timeout_ref_
std::string	controller_name_
double	ref_value_
double	max_ref_value_
double	min_ref_value_
ros::Time	ref_time_
ros::Time	last_cmd_
bool	debug_
medusa_msgs::mPidDebug	debug_msg_
double *	state_ptr_
double *	force_or_torque_ptr_
double	frequency_
bool	circular_units_
bool	positive_output_
PID_Controller *	pid_c_
ros::Subscriber	ros_sub_
ros::Publisher	debug_pub_

Public Functions Documentation

function RosController

RosController(
    ros::NodeHandle & nh,
    std::string controller_name,
    std::string refCallback_topic,
    double * state,
    double * force_or_torque,
    double frequency
)

Constructor of a innerloop controller.

Parameters:

nh ROS nodehandle to read parameters and subscribe to relevant topics
controller_name Controller name (variable being controlled)
refCallback_topic Topic name
state Pointer to state variable being controlled
force_or_torque Pointer to force or torque output
frequency Frequency of controller sampling rate

function RosController

RosController(
    ros::NodeHandle & nh,
    std::string controller_name,
    std::string refCallback_topic,
    double * state,
    double * state_dot,
    double * force_or_torque,
    double frequency
)

Constructor of a innerloop controller.

Parameters:

nh ROS nodehandle to read parameters and subscribe to relevant topics
controller_name Controller name (variable being controlled)
refCallback_topic Topic name
state Pointer to state variable being controlled
state_dot Pointer to the derivative of the state variable being controlled
force_or_torque Pointer to force or torque output
frequency Frequency of controller sampling rate

function computeCommand

virtual double computeCommand()

Core function. Computes the PID output.

Return: The force or torque that result from the PID computation

function setCircularUnits

inline void setCircularUnits(
    const bool & flag
)

Setter function for the circular units flag.

Parameters:

flag true for controllers using angles, false otherwise

function setPositiveOutput

inline void setPositiveOutput(
    const bool & flag
)

Set the Positive Output object.

Parameters:

flag

function getControllerName

inline std::string getControllerName() const

Get the Controller Name object.

function setFFGainsPID

inline void setFFGainsPID(
    const float & kff,
    const float & kff_d,
    const float & kff_lin_drag,
    const float kff_quad_drag
)

Set the Feedforwar gains P I D object.

Parameters:

kff Feedforward gain (quadratic)
kff_d Feedforwad derivative gain
kff_lin_drag Feedforward linear drag gain
kff_quad_drag Feedforwad quadratic drag gain

function setGainsPID

inline void setGainsPID(
    const float & kp,
    const float & ki,
    const float & kd
)

Set the Gains P I D object.

Parameters:

kp Proportional gain
ki Integral gain
kd Derivative gain

function setLimitBoundsPID

inline void setLimitBoundsPID(
    const float & max_out,
    const float & min_out
)

Protected Functions Documentation

function refCallback

void refCallback(
    const std_msgs::Float64 & ptr
)

Callback function. Saturates the value if boundaries exist.

Parameters:

msg Float64 value of the variable being controlled

function init

void init(
    ros::NodeHandle & nh,
    std::string controller_name,
    std::string refCallback_topic
)

Initialize function. Reads the parameters, creates a pid controller if any gain is different from zero and subscribes to the relevant topic.

Parameters:

nh Nodehandle to read parameters and subscribe to relevant topics
controller_name Controller name (variable being controlled)
refCallback_topic Topic name

function validRef

virtual bool validRef()

Check if the reference is new.

Return: True if valid, false otherwise

Protected Attributes Documentation

variable timeout_ref_

ros::Duration timeout_ref_;

variable controller_name_

std::string controller_name_;

variable ref_value_

double ref_value_;

variable max_ref_value_

double max_ref_value_;

variable min_ref_value_

double min_ref_value_;

variable ref_time_

ros::Time ref_time_;

variable last_cmd_

ros::Time last_cmd_;

variable debug_

bool debug_;

variable debug_msg_

medusa_msgs::mPidDebug debug_msg_;

variable state_ptr_

double * state_ptr_;

variable force_or_torque_ptr_

double * force_or_torque_ptr_;

variable frequency_

double frequency_;

variable circular_units_

bool circular_units_;

variable positive_output_

bool positive_output_;

variable pid_c_

PID_Controller * pid_c_;

variable ros_sub_

ros::Subscriber ros_sub_;

variable debug_pub_

ros::Publisher debug_pub_;

Updated on 2022-09-15 at 17:51:30 +0000

Last update: September 15, 2022