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mir_robot/diff_drive_controller/test/diffbot.h

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+///////////////////////////////////////////////////////////////////////////////
+// Copyright (C) 2013, PAL Robotics S.L.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//   * Redistributions of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//   * Redistributions in binary form must reproduce the above copyright
+//     notice, this list of conditions and the following disclaimer in the
+//     documentation and/or other materials provided with the distribution.
+//   * Neither the name of PAL Robotics, Inc. nor the names of its
+//     contributors may be used to endorse or promote products derived from
+//     this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//////////////////////////////////////////////////////////////////////////////
+
+// NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials
+
+#pragma once
+
+
+// ROS
+#include <ros/ros.h>
+#include <std_srvs/Empty.h>
+
+// ros_control
+#include <controller_manager/controller_manager.h>
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/joint_state_interface.h>
+#include <hardware_interface/robot_hw.h>
+#include <realtime_tools/realtime_buffer.h>
+
+// NaN
+#include <limits>
+
+// ostringstream
+#include <sstream>
+
+template <unsigned int NUM_JOINTS = 2>
+class Diffbot : public hardware_interface::RobotHW
+{
+public:
+  Diffbot()
+  : running_(true)
+  , start_srv_(nh_.advertiseService("start", &Diffbot::start_callback, this))
+  , stop_srv_(nh_.advertiseService("stop", &Diffbot::stop_callback, this))
+  {
+    // Intialize raw data
+    std::fill_n(pos_, NUM_JOINTS, 0.0);
+    std::fill_n(vel_, NUM_JOINTS, 0.0);
+    std::fill_n(eff_, NUM_JOINTS, 0.0);
+    std::fill_n(cmd_, NUM_JOINTS, 0.0);
+
+    // Connect and register the joint state and velocity interface
+    for (unsigned int i = 0; i < NUM_JOINTS; ++i)
+    {
+      std::ostringstream os;
+      os << "wheel_" << i << "_joint";
+
+      hardware_interface::JointStateHandle state_handle(os.str(), &pos_[i], &vel_[i], &eff_[i]);
+      jnt_state_interface_.registerHandle(state_handle);
+
+      hardware_interface::JointHandle vel_handle(jnt_state_interface_.getHandle(os.str()), &cmd_[i]);
+      jnt_vel_interface_.registerHandle(vel_handle);
+    }
+
+    registerInterface(&jnt_state_interface_);
+    registerInterface(&jnt_vel_interface_);
+  }
+
+  ros::Time getTime() const {return ros::Time::now();}
+  ros::Duration getPeriod() const {return ros::Duration(0.01);}
+
+  void read()
+  {
+    // Read the joint state of the robot into the hardware interface
+    if (running_)
+    {
+      for (unsigned int i = 0; i < NUM_JOINTS; ++i)
+      {
+        // Note that pos_[i] will be NaN for one more cycle after we start(),
+        // but that is consistent with the knowledge we have about the state
+        // of the robot.
+        pos_[i] += vel_[i]*getPeriod().toSec(); // update position
+        vel_[i] = cmd_[i]; // might add smoothing here later
+      }
+    }
+    else
+    {
+      std::fill_n(pos_, NUM_JOINTS, std::numeric_limits<double>::quiet_NaN());
+      std::fill_n(vel_, NUM_JOINTS, std::numeric_limits<double>::quiet_NaN());
+    }
+  }
+
+  void write()
+  {
+    // Write the commands to the joints
+    std::ostringstream os;
+    for (unsigned int i = 0; i < NUM_JOINTS - 1; ++i)
+    {
+      os << cmd_[i] << ", ";
+    }
+    os << cmd_[NUM_JOINTS - 1];
+
+    ROS_INFO_STREAM("Commands for joints: " << os.str());
+  }
+
+  bool start_callback(std_srvs::Empty::Request& /*req*/, std_srvs::Empty::Response& /*res*/)
+  {
+    running_ = true;
+    return true;
+  }
+
+  bool stop_callback(std_srvs::Empty::Request& /*req*/, std_srvs::Empty::Response& /*res*/)
+  {
+    running_ = false;
+    return true;
+  }
+
+private:
+  hardware_interface::JointStateInterface    jnt_state_interface_;
+  hardware_interface::VelocityJointInterface jnt_vel_interface_;
+  double cmd_[NUM_JOINTS];
+  double pos_[NUM_JOINTS];
+  double vel_[NUM_JOINTS];
+  double eff_[NUM_JOINTS];
+  bool running_;
+
+  ros::NodeHandle nh_;
+  ros::ServiceServer start_srv_;
+  ros::ServiceServer stop_srv_;
+};