Default control law for approaching a dock target. More...

#include <nav2_docking/opennav_docking/include/opennav_docking/controller.hpp>

Collaboration diagram for opennav_docking::Controller:

Public Member Functions
	Controller (const nav2::LifecycleNode::SharedPtr &node, std::shared_ptr< tf2_ros::Buffer > tf, std::string fixed_frame, std::string base_frame)
	Create a controller instance. Configure ROS 2 parameters. More...

	~Controller ()
	A destructor for opennav_docking::Controller.

bool	computeVelocityCommand (const geometry_msgs::msg::Pose &pose, geometry_msgs::msg::Twist &cmd, bool is_docking, bool backward=false)
	Compute a velocity command using control law. More...

geometry_msgs::msg::Twist	computeRotateToHeadingCommand (const double &angular_distance_to_heading, const geometry_msgs::msg::Twist &current_velocity, const double &dt)
	Perform a command for in-place rotation. More...

Protected Member Functions
bool	isTrajectoryCollisionFree (const geometry_msgs::msg::Pose &target_pose, bool is_docking, bool backward=false)
	Check if a trajectory is collision free. More...

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

void	configureCollisionChecker (const nav2::LifecycleNode::SharedPtr &node, std::string costmap_topic, std::string footprint_topic, double transform_tolerance)
	Configure the collision checker. More...

Protected Attributes
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

std::mutex	dynamic_params_lock_

rclcpp::Logger	logger_ {rclcpp::get_logger("Controller")}

rclcpp::Clock::SharedPtr	clock_

std::unique_ptr< nav2_graceful_controller::SmoothControlLaw >	control_law_

double	k_phi_

double	k_delta_

double	beta_

double	lambda_

double	slowdown_radius_

double	v_linear_min_

double	v_linear_max_

double	v_angular_max_

double	rotate_to_heading_angular_vel_

double	rotate_to_heading_max_angular_accel_

rclcpp::Publisher< nav_msgs::msg::Path >::SharedPtr	trajectory_pub_

bool	use_collision_detection_

double	projection_time_

double	simulation_time_step_

double	dock_collision_threshold_

double	transform_tolerance_

std::shared_ptr< tf2_ros::Buffer >	tf2_buffer_

std::unique_ptr< nav2_costmap_2d::CostmapSubscriber >	costmap_sub_

std::unique_ptr< nav2_costmap_2d::FootprintSubscriber >	footprint_sub_

std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker >	collision_checker_

std::string	fixed_frame_

std::string	base_frame_

Detailed Description

Default control law for approaching a dock target.

Definition at line 38 of file controller.hpp.

Constructor & Destructor Documentation

◆ Controller()

opennav_docking::Controller::Controller	(	const nav2::LifecycleNode::SharedPtr &	node,
		std::shared_ptr< tf2_ros::Buffer >	tf,
		std::string	fixed_frame,
		std::string	base_frame
	)

Create a controller instance. Configure ROS 2 parameters.

Parameters

node	Lifecycle node
tf	tf2_ros TF buffer
fixed_frame	Fixed frame
base_frame	Robot base frame

Definition at line 27 of file controller.cpp.

References configureCollisionChecker(), and dynamicParametersCallback().

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Member Function Documentation

◆ computeRotateToHeadingCommand()

geometry_msgs::msg::Twist opennav_docking::Controller::computeRotateToHeadingCommand	(	const double &	angular_distance_to_heading,
		const geometry_msgs::msg::Twist &	current_velocity,
		const double &	dt
	)

Perform a command for in-place rotation.

Parameters

angular_distance_to_heading	Angular distance to goal.
current_velocity	Current angular velocity.
dt	Control loop duration [s].

Returns: TwistStamped command for in-place rotation.

Definition at line 127 of file controller.cpp.

◆ computeVelocityCommand()

bool opennav_docking::Controller::computeVelocityCommand	(	const geometry_msgs::msg::Pose &	pose,
		geometry_msgs::msg::Twist &	cmd,
		bool	is_docking,
		bool	backward = `false`
	)

Compute a velocity command using control law.

Parameters

pose	Target pose, in robot centric coordinates.
cmd	Command velocity.
is_docking	If true, robot is docking. If false, robot is undocking.
backward	If true, robot will drive backwards to goal.

Returns: True if command is valid, false otherwise.

Definition at line 118 of file controller.cpp.

References isTrajectoryCollisionFree().

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◆ configureCollisionChecker()

void opennav_docking::Controller::configureCollisionChecker	(	const nav2::LifecycleNode::SharedPtr &	node,
		std::string	costmap_topic,
		std::string	footprint_topic,
		double	transform_tolerance
	)

protected

Configure the collision checker.

Parameters

node	Lifecycle node
costmap_topic	Costmap topic
footprint_topic	Footprint topic
transform_tolerance	Transform tolerance

Definition at line 225 of file controller.cpp.

Referenced by Controller().

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◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult opennav_docking::Controller::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event ParameterEvent message

Definition at line 237 of file controller.cpp.

Referenced by Controller().

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◆ isTrajectoryCollisionFree()

bool opennav_docking::Controller::isTrajectoryCollisionFree	(	const geometry_msgs::msg::Pose &	target_pose,
		bool	is_docking,
		bool	backward = `false`
	)

protected

Check if a trajectory is collision free.

Parameters

target_pose	Target pose, in robot centric coordinates.
is_docking	If true, robot is docking. If false, robot is undocking.
backward	If true, robot will drive backwards to goal.

Returns: True if trajectory is collision free.

Definition at line 152 of file controller.cpp.

Referenced by computeVelocityCommand().

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The documentation for this class was generated from the following files:

nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
nav2_docking/opennav_docking/src/controller.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Controller()

Member Function Documentation

◆ computeRotateToHeadingCommand()

◆ computeVelocityCommand()

◆ configureCollisionChecker()

◆ dynamicParametersCallback()

◆ isTrajectoryCollisionFree()