twist_controller -> picknik_twist_controller

README.md

@@ -14,7 +14,7 @@ We plan to land this upstream in ros2_controllers: https://github.com/ros-contro
 ### Usage
 Example of instance within `ros2_control` can be found in the [configuration file](https://github.com/PickNikRobotics/ros2_kortex/blob/main/kortex_description/arms/gen3/7dof/config/ros2_controllers.yaml).
 Defined interfaces have to exist within the `hardware_interface::SystemInterface` implemented for the robot (e.g. driver).
-Stop any commanding controller and then start `TwistController`to use kinova's builtin cartesian twist controller.
+Stop any commanding controller and then start `PicknikTwistController`to forward twist msgs to the hardwares builtin cartesian twist controller.
 
 #### Note on controllers
 Exclusiveness logic is within the driver, and running joint-based and twist controller at the same time is not possible.

picknik_reset_fault_controller/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.16)
 project(picknik_reset_fault_controller)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

twist_controller/CMakeLists.txt → picknik_twist_controller/CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 3.8)
-project(twist_controller)
+cmake_minimum_required(VERSION 3.16)
+project(picknik_twist_controller)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -23,7 +23,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 
 include_directories(include)
 
-add_library(${PROJECT_NAME} SHARED src/twist_controller.cpp)
+add_library(${PROJECT_NAME} SHARED src/picknik_twist_controller.cpp)
 target_include_directories(${PROJECT_NAME} PRIVATE
   include
 )
@@ -34,7 +34,7 @@ ament_target_dependencies(${PROJECT_NAME}
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(${PROJECT_NAME} PRIVATE "KORTEX2_CONTROLLERS_BUILDING_LIBRARY")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "PICKNIK_TWIST_CONTROLLER_BUILDING_LIBRARY")
 pluginlib_export_plugin_description_file(controller_interface controller_plugins.xml)
 
 install(TARGETS ${PROJECT_NAME}

picknik_twist_controller/controller_plugins.xml

@@ -0,0 +1,7 @@
+<library path="picknik_twist_controler">
+  <class name="picknik_twist_controler/PicknikTwistControler" type="picknik_twist_controler::PicknikTwistControler" base_class_type="controller_interface::ControllerInterface">
+  <description>
+    Subscribes to twist msg and forwards to hardware
+  </description>
+  </class>
+</library>

twist_controller/include/twist_controller/twist_controller.hpp → picknik_twist_controller/include/picknik_twist_controller/picknik_twist_controller.hpp

@@ -21,48 +21,48 @@
  */
 //----------------------------------------------------------------------
 
-#ifndef TWIST_CONTROLLER__TWIST_CONTROLLER_HPP_
-#define TWIST_CONTROLLER__TWIST_CONTROLLER_HPP_
+#ifndef PICKNIK_TWIST_CONTROLLER__PICKNIK_TWIST_CONTROLLER_HPP_
+#define PICKNIK_TWIST_CONTROLLER__PICKNIK_TWIST_CONTROLLER_HPP_
 
 #include <memory>
 #include <string>
 #include <vector>
 
 #include "controller_interface/controller_interface.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
+#include "picknik_twist_controller/visibility_control.h"
 #include "realtime_tools/realtime_buffer.h"
-#include "twist_controller/visibility_control.h"
 
-namespace twist_controller
+namespace picknik_twist_controller
 {
 using CmdType = geometry_msgs::msg::TwistStamped;
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
-class TwistController : public controller_interface::ControllerInterface
+class PicknikTwistControler : public controller_interface::ControllerInterface
 {
 public:
-  TWIST_CONTROLLER_PUBLIC
-  TwistController();
+  PICKNIK_TWIST_CONTROLLER_PUBLIC
+  PicknikTwistControler();
 
-  TWIST_CONTROLLER_PUBLIC
+  PICKNIK_TWIST_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
-  TWIST_CONTROLLER_PUBLIC
+  PICKNIK_TWIST_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-  TWIST_CONTROLLER_PUBLIC
+  PICKNIK_TWIST_CONTROLLER_PUBLIC
   CallbackReturn on_init() override;
 
-  TWIST_CONTROLLER_PUBLIC
+  PICKNIK_TWIST_CONTROLLER_PUBLIC
   CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
 
-  TWIST_CONTROLLER_PUBLIC
+  PICKNIK_TWIST_CONTROLLER_PUBLIC
   CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
-  TWIST_CONTROLLER_PUBLIC
+  PICKNIK_TWIST_CONTROLLER_PUBLIC
   CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
-  TWIST_CONTROLLER_PUBLIC
+  PICKNIK_TWIST_CONTROLLER_PUBLIC
   controller_interface::return_type update(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
@@ -76,6 +76,6 @@ class TwistController : public controller_interface::ControllerInterface
   std::string logger_name_;
 };
 
-}  // namespace twist_controller
+}  // namespace picknik_twist_controller
 
-#endif  // TWIST_CONTROLLER__TWIST_CONTROLLER_HPP_
+#endif  // PICKNIK_TWIST_CONTROLLER__PICKNIK_TWIST_CONTROLLER_HPP_

picknik_twist_controller/include/picknik_twist_controller/visibility_control.h

@@ -0,0 +1,49 @@
+// Copyright 2021, PickNik Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PICKNIK_TWIST_CONTROLLER__VISIBILITY_CONTROL_H_
+#define PICKNIK_TWIST_CONTROLLER__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+#ifdef __GNUC__
+#define PICKNIK_TWIST_CONTROLLER_EXPORT __attribute__((dllexport))
+#define PICKNIK_TWIST_CONTROLLER_IMPORT __attribute__((dllimport))
+#else
+#define PICKNIK_TWIST_CONTROLLER_EXPORT __declspec(dllexport)
+#define PICKNIK_TWIST_CONTROLLER_IMPORT __declspec(dllimport)
+#endif
+#ifdef PICKNIK_TWIST_CONTROLLER_BUILDING_LIBRARY
+#define PICKNIK_TWIST_CONTROLLER_PUBLIC PICKNIK_TWIST_CONTROLLER_EXPORT
+#else
+#define PICKNIK_TWIST_CONTROLLER_PUBLIC PICKNIK_TWIST_CONTROLLER_IMPORT
+#endif
+#define PICKNIK_TWIST_CONTROLLER_PUBLIC_TYPE PICKNIK_TWIST_CONTROLLER_PUBLIC
+#define PICKNIK_TWIST_CONTROLLER_LOCAL
+#else
+#define PICKNIK_TWIST_CONTROLLER_EXPORT __attribute__((visibility("default")))
+#define PICKNIK_TWIST_CONTROLLER_IMPORT
+#if __GNUC__ >= 4
+#define PICKNIK_TWIST_CONTROLLER_PUBLIC __attribute__((visibility("default")))
+#define PICKNIK_TWIST_CONTROLLER_LOCAL __attribute__((visibility("hidden")))
+#else
+#define PICKNIK_TWIST_CONTROLLER_PUBLIC
+#define PICKNIK_TWIST_CONTROLLER_LOCAL
+#endif
+#define PICKNIK_TWIST_CONTROLLER_PUBLIC_TYPE
+#endif
+
+#endif  // PICKNIK_TWIST_CONTROLLER__VISIBILITY_CONTROL_H_

twist_controller/package.xml → picknik_twist_controller/package.xml

@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>twist_controller</name>
+  <name>picknik_twist_controller</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Subscribes to twist msg and forwards to hardware</description>
   <maintainer email="lovro.ivanov@gmail.com">lovro</maintainer>
-  <license>TODO: License declaration</license>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 

twist_controller/src/twist_controller.cpp → picknik_twist_controller/src/picknik_twist_controller.cpp

@@ -21,7 +21,7 @@
  */
 //----------------------------------------------------------------------
 
-#include "twist_controller/twist_controller.hpp"
+#include "picknik_twist_controller/picknik_twist_controller.hpp"
 
 #include <memory>
 #include <string>
@@ -30,19 +30,19 @@
 #include "controller_interface/helpers.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 
-namespace twist_controller
+namespace picknik_twist_controller
 {
 using hardware_interface::LoanedCommandInterface;
 
-TwistController::TwistController()
+PicknikTwistControler::PicknikTwistControler()
 : controller_interface::ControllerInterface(),
   rt_command_ptr_(nullptr),
   twist_command_subscriber_(nullptr)
 {
 }
 
-controller_interface::InterfaceConfiguration TwistController::command_interface_configuration()
-  const
+controller_interface::InterfaceConfiguration
+PicknikTwistControler::command_interface_configuration() const
 {
   controller_interface::InterfaceConfiguration command_interfaces_config;
   command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
@@ -55,13 +55,14 @@ controller_interface::InterfaceConfiguration TwistController::command_interface_
   return command_interfaces_config;
 }
 
-controller_interface::InterfaceConfiguration TwistController::state_interface_configuration() const
+controller_interface::InterfaceConfiguration PicknikTwistControler::state_interface_configuration()
+  const
 {
   return controller_interface::InterfaceConfiguration{
     controller_interface::interface_configuration_type::NONE};
 }
 
-CallbackReturn TwistController::on_init()
+CallbackReturn PicknikTwistControler::on_init()
 {
   try
   {
@@ -78,7 +79,8 @@ CallbackReturn TwistController::on_init()
   return CallbackReturn::SUCCESS;
 }
 
-CallbackReturn TwistController::on_configure(const rclcpp_lifecycle::State & /*previous_state*/)
+CallbackReturn PicknikTwistControler::on_configure(
+  const rclcpp_lifecycle::State & /*previous_state*/)
 {
   joint_name_ = get_node()->get_parameter("joint").as_string();
 
@@ -108,21 +110,23 @@ CallbackReturn TwistController::on_configure(const rclcpp_lifecycle::State & /*p
   return CallbackReturn::SUCCESS;
 }
 
-CallbackReturn TwistController::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
+CallbackReturn PicknikTwistControler::on_activate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // reset command buffer if a command came through callback when controller was inactive
   rt_command_ptr_ = realtime_tools::RealtimeBuffer<std::shared_ptr<CmdType>>(nullptr);
   return CallbackReturn::SUCCESS;
 }
 
-CallbackReturn TwistController::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
+CallbackReturn PicknikTwistControler::on_deactivate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // reset command buffer
   rt_command_ptr_ = realtime_tools::RealtimeBuffer<std::shared_ptr<CmdType>>(nullptr);
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type TwistController::update(
+controller_interface::return_type PicknikTwistControler::update(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
   auto twist_commands = rt_command_ptr_.readFromRT();
@@ -150,8 +154,9 @@ controller_interface::return_type TwistController::update(
 
   return controller_interface::return_type::OK;
 }
-}  // namespace twist_controller
+}  // namespace picknik_twist_controller
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(twist_controller::TwistController, controller_interface::ControllerInterface)
+PLUGINLIB_EXPORT_CLASS(
+  picknik_twist_controller::PicknikTwistControler, controller_interface::ControllerInterface)