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use only Twist not TwistStamped #11

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Jul 24, 2023
Merged

use only Twist not TwistStamped #11

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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ Controller Manager (`ros2_control`) will try to activate both on request, but th
ros2 control switch_controllers --activate streaming_controller --deactivate joint_trajectory_controller
```

By publishing `geometry_msgs::msg::TwistStamped` to `/streaming_controller/commands`, the commands will be piped to the driver
By publishing `geometry_msgs::msg::Twist` to `/streaming_controller/commands`, the commands will be piped to the driver
and streamed to the robot controller.

## PicknikResetFaultController
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4 changes: 2 additions & 2 deletions picknik_twist_controller/include/picknik_twist_controller/picknik_twist_controller.hpp
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Expand Up @@ -29,13 +29,13 @@
#include <vector>

#include "controller_interface/controller_interface.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "picknik_twist_controller/visibility_control.h"
#include "realtime_tools/realtime_buffer.h"

namespace picknik_twist_controller
{
using CmdType = geometry_msgs::msg::TwistStamped;
using CmdType = geometry_msgs::msg::Twist;
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;

class PicknikTwistController : public controller_interface::ControllerInterface
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12 changes: 6 additions & 6 deletions picknik_twist_controller/src/picknik_twist_controller.cpp
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Expand Up @@ -145,12 +145,12 @@ controller_interface::return_type PicknikTwistController::update(
command_interfaces_.size());
return controller_interface::return_type::ERROR;
}
command_interfaces_[0].set_value((*twist_commands)->twist.linear.x);
command_interfaces_[1].set_value((*twist_commands)->twist.linear.y);
command_interfaces_[2].set_value((*twist_commands)->twist.linear.z);
command_interfaces_[3].set_value((*twist_commands)->twist.angular.x);
command_interfaces_[4].set_value((*twist_commands)->twist.angular.y);
command_interfaces_[5].set_value((*twist_commands)->twist.angular.z);
command_interfaces_[0].set_value((*twist_commands)->linear.x);
command_interfaces_[1].set_value((*twist_commands)->linear.y);
command_interfaces_[2].set_value((*twist_commands)->linear.z);
command_interfaces_[3].set_value((*twist_commands)->angular.x);
command_interfaces_[4].set_value((*twist_commands)->angular.y);
command_interfaces_[5].set_value((*twist_commands)->angular.z);

return controller_interface::return_type::OK;
}
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