mecanum drive controller adding and ported to ros2

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.3.0
+    rev: v4.4.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -33,13 +33,13 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v2.37.3
+    rev: v3.3.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
   - repo: https://github.com/psf/black
-    rev: 22.6.0
+    rev: 22.12.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -52,7 +52,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 5.0.4
+    rev: 6.0.0
     hooks:
     - id: flake8
       args: ["--ignore=E501"]
@@ -119,14 +119,14 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.0.0
+    rev: v1.1.1
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
         exclude: CHANGELOG\.rst$
 
   - repo: https://github.com/pre-commit/pygrep-hooks
-    rev: v1.9.0
+    rev: v1.10.0
     hooks:
       - id: rst-backticks
         exclude: CHANGELOG\.rst$
@@ -136,7 +136,7 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.1.0
+    rev: v2.2.2
     hooks:
       - id: codespell
         args: ['--write-changes', '--uri-ignore-words-list=ist']

mecanum_drive_controller/CMakeLists.txt

@@ -0,0 +1,112 @@
+cmake_minimum_required(VERSION 3.8)
+project(mecanum_drive_controller)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  control_msgs
+  controller_interface
+  geometry_msgs
+  hardware_interface
+  nav_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+  std_srvs
+  tf2
+  tf2_msgs
+  tf2_geometry_msgs
+)
+
+find_package(ament_cmake REQUIRED)
+find_package(generate_parameter_library REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+# Add mecanum_drive_controller library related compile commands
+generate_parameter_library(mecanum_drive_controller_parameters
+  src/mecanum_drive_controller.yaml
+)
+add_library(
+  mecanum_drive_controller
+  SHARED
+  src/mecanum_drive_controller.cpp
+  src/odometry.cpp
+)
+target_include_directories(mecanum_drive_controller PUBLIC
+"$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(mecanum_drive_controller mecanum_drive_controller_parameters)
+ament_target_dependencies(mecanum_drive_controller ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_compile_definitions(mecanum_drive_controller PRIVATE "MECANUM_DRIVE_CONTROLLER_BUILDING_DLL")
+
+pluginlib_export_plugin_description_file(
+  controller_interface mecanum_drive_controller.xml)
+
+install(
+  TARGETS
+  mecanum_drive_controller
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(hardware_interface REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(test_load_mecanum_drive_controller test/test_load_mecanum_drive_controller.cpp)
+  target_include_directories(test_load_mecanum_drive_controller PRIVATE include)
+  ament_target_dependencies(
+    test_load_mecanum_drive_controller
+    controller_manager
+    hardware_interface
+    ros2_control_test_assets
+  )
+
+  add_rostest_with_parameters_gmock(
+    test_mecanum_drive_controller test/test_mecanum_drive_controller.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/mecanum_drive_controller_params.yaml)
+  target_include_directories(test_mecanum_drive_controller PRIVATE include)
+  target_link_libraries(test_mecanum_drive_controller mecanum_drive_controller)
+  ament_target_dependencies(
+    test_mecanum_drive_controller
+    controller_interface
+    hardware_interface
+  )
+
+  add_rostest_with_parameters_gmock(
+    test_mecanum_drive_controller_preceeding test/test_mecanum_drive_controller_preceeding.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/mecanum_drive_controller_preceeding_params.yaml)
+  target_include_directories(test_mecanum_drive_controller_preceeding PRIVATE include)
+  target_link_libraries(test_mecanum_drive_controller_preceeding mecanum_drive_controller)
+  ament_target_dependencies(
+    test_mecanum_drive_controller_preceeding
+    controller_interface
+    hardware_interface
+  )
+endif()
+
+ament_export_include_directories(
+  include
+)
+ament_export_dependencies(
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+ament_export_libraries(
+  mecanum_drive_controller
+)
+
+ament_package()

mecanum_drive_controller/include/mecanum_drive_controller/mecanum_drive_controller.hpp

@@ -0,0 +1,137 @@
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
+//
+// 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 MECANUM_DRIVE_CONTROLLER__MECANUM_DRIVE_CONTROLLER_HPP_
+#define MECANUM_DRIVE_CONTROLLER__MECANUM_DRIVE_CONTROLLER_HPP_
+
+#include <chrono>
+#include <cmath>
+#include <memory>
+#include <queue>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "controller_interface/chainable_controller_interface.hpp"
+#include "mecanum_drive_controller/odometry.hpp"
+#include "mecanum_drive_controller/visibility_control.h"
+#include "mecanum_drive_controller_parameters.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_publisher.h"
+#include "std_srvs/srv/set_bool.hpp"
+
+#include "control_msgs/msg/mecanum_drive_controller_state.hpp"
+#include "geometry_msgs/msg/twist_stamped.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include "tf2_msgs/msg/tf_message.hpp"
+namespace mecanum_drive_controller
+{
+// name constants for state interfaces
+static constexpr size_t NR_STATE_ITFS = 4;
+
+// name constants for command interfaces
+static constexpr size_t NR_CMD_ITFS = 4;
+
+// name constants for reference interfaces
+static constexpr size_t NR_REF_ITFS = 3;
+
+class MecanumDriveController : public controller_interface::ChainableControllerInterface
+{
+public:
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  MecanumDriveController();
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_init() override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::return_type update_reference_from_subscribers(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_PUBLIC
+  controller_interface::return_type update_and_write_commands(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  using ControllerReferenceMsg = geometry_msgs::msg::TwistStamped;
+  using OdomStateMsg = nav_msgs::msg::Odometry;
+  using TfStateMsg = tf2_msgs::msg::TFMessage;
+  using ControllerStateMsg = control_msgs::msg::MecanumDriveControllerState;
+
+protected:
+  std::shared_ptr<mecanum_drive_controller::ParamListener> param_listener_;
+  mecanum_drive_controller::Params params_;
+
+  // used for chained controller
+  std::vector<std::string> state_joint_names_;
+
+  //Names of the references, ex: high level vel commands from MoveIt, Nav2, etc. used for preceding controller
+  std::vector<std::string> reference_names_;
+
+  // Command subscribers and Controller State, odom state, tf state publishers
+  rclcpp::Subscription<ControllerReferenceMsg>::SharedPtr ref_subscriber_ = nullptr;
+  realtime_tools::RealtimeBuffer<std::shared_ptr<ControllerReferenceMsg>> input_ref_;
+  rclcpp::Duration ref_timeout_ = rclcpp::Duration::from_seconds(0.0);
+
+  using OdomStatePublisher = realtime_tools::RealtimePublisher<OdomStateMsg>;
+  rclcpp::Publisher<OdomStateMsg>::SharedPtr odom_s_publisher_;
+  std::unique_ptr<OdomStatePublisher> rt_odom_state_publisher_;
+
+  using TfStatePublisher = realtime_tools::RealtimePublisher<TfStateMsg>;
+  rclcpp::Publisher<TfStateMsg>::SharedPtr tf_odom_s_publisher_;
+  std::unique_ptr<TfStatePublisher> rt_tf_odom_state_publisher_;
+
+  using ControllerStatePublisher = realtime_tools::RealtimePublisher<ControllerStateMsg>;
+  rclcpp::Publisher<ControllerStateMsg>::SharedPtr controller_s_publisher_;
+  std::unique_ptr<ControllerStatePublisher> controller_state_publisher_;
+
+  // override methods from ChainableControllerInterface
+  std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
+
+  bool on_set_chained_mode(bool chained_mode) override;
+
+  Odometry odometry_;
+
+private:
+  // callback for topic interface
+  MECANUM_DRIVE_CONTROLLER__VISIBILITY_LOCAL
+  void reference_callback(const std::shared_ptr<ControllerReferenceMsg> msg);
+
+  double velocity_in_center_frame_linear_x_;   // [m/s]
+  double velocity_in_center_frame_linear_y_;   // [m/s]
+  double velocity_in_center_frame_angular_z_;  // [rad/s]
+};
+
+}  // namespace mecanum_drive_controller
+
+#endif  // MECANUM_DRIVE_CONTROLLER__MECANUM_DRIVE_CONTROLLER_HPP_