forward_command_controller

forward_command_controller/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(forward_command_controller)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(controller_interface REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(realtime_tools REQUIRED)
+find_package(std_msgs REQUIRED)
+
+add_library(forward_command_controller
+  SHARED
+  src/forward_command_controller.cpp
+)
+target_include_directories(forward_command_controller PRIVATE include)
+ament_target_dependencies(forward_command_controller
+  builtin_interfaces
+  controller_interface
+  hardware_interface
+  pluginlib
+  rclcpp_lifecycle
+  rcutils
+  realtime_tools
+  std_msgs
+)
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(forward_command_controller PRIVATE "FORWARD_COMMAND_CONTROLLER_BUILDING_DLL")
+
+pluginlib_export_plugin_description_file(controller_interface forward_command_plugin.xml)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS
+  forward_command_controller
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(controller_manager REQUIRED)
+  find_package(test_robot_hardware REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(
+    test_load_forward_command_controller
+    test/test_load_forward_command_controller.cpp
+  )
+  target_include_directories(test_load_forward_command_controller PRIVATE include)
+  ament_target_dependencies(test_load_forward_command_controller
+    controller_manager
+    test_robot_hardware
+  )
+
+  ament_add_gtest(
+    test_forward_command_controller
+    test/test_forward_command_controller.cpp
+  )
+  target_include_directories(test_forward_command_controller PRIVATE include)
+  target_link_libraries(test_forward_command_controller
+    forward_command_controller
+  )
+  ament_target_dependencies(test_forward_command_controller
+    test_robot_hardware
+  )
+endif()
+
+ament_export_dependencies(
+  controller_interface
+  hardware_interface
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+  std_msgs
+)
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  forward_command_controller
+)
+ament_package()

forward_command_controller/forward_command_plugin.xml

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+<library path="forward_command_controller">
+  <class name="forward_command_controller/ForwardCommandController" type="forward_command_controller::ForwardCommandController" base_class_type="controller_interface::ControllerInterface">
+  <description>
+    The forward command controller commands a group of joints in a given interface
+  </description>
+  </class>
+</library>

forward_command_controller/include/forward_command_controller/forward_command_controller.hpp

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+// Copyright 2020 PAL Robotics S.L.
+//
+// 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 FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_
+#define FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "controller_interface/controller_interface.hpp"
+#include "forward_command_controller/visibility_control.h"
+#include "hardware_interface/joint_handle.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "rclcpp/subscription.hpp"
+#include "realtime_tools/realtime_buffer.h"
+#include "std_msgs/msg/float64_multi_array.hpp"
+
+namespace forward_command_controller
+{
+
+/**
+ * \brief Forward command controller for a set of joints.
+ *
+ * This class forwards the command signal down to a set of joints
+ * on the specified interface.
+ *
+ * \param joints Names of the joints to control.
+ * \param interface_name Name of the interface to command.
+ *
+ * Subscribes to:
+ * - \b commands (std_msgs::msg::Float64MultiArray) : The commands to apply.
+ */
+class ForwardCommandController : public controller_interface::ControllerInterface
+{
+public:
+  FORWARD_COMMAND_CONTROLLER_PUBLIC
+  ForwardCommandController();
+
+  FORWARD_COMMAND_CONTROLLER_PUBLIC
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+  on_configure(const rclcpp_lifecycle::State & previous_state) override;
+
+  FORWARD_COMMAND_CONTROLLER_PUBLIC
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+  on_activate(const rclcpp_lifecycle::State & previous_state) override;
+
+  FORWARD_COMMAND_CONTROLLER_PUBLIC
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+  on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
+
+  FORWARD_COMMAND_CONTROLLER_PUBLIC
+  controller_interface::return_type
+  update() override;
+
+protected:
+  using CmdType = std_msgs::msg::Float64MultiArray;
+
+  std::vector<hardware_interface::JointHandle> joint_cmd_handles_;
+  realtime_tools::RealtimeBuffer<std::shared_ptr<CmdType>> rt_command_ptr_;
+  rclcpp::Subscription<CmdType>::SharedPtr joints_command_subscriber_;
+
+  std::string logger_name_;
+};
+
+}  // namespace forward_command_controller
+
+#endif  // FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_

forward_command_controller/include/forward_command_controller/visibility_control.h

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+// Copyright 2020 PAL Robotics S.L.
+//
+// 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.
+
+/* This header must be included by all rclcpp headers which declare symbols
+ * which are defined in the rclcpp library. When not building the rclcpp
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the rclcpp
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+
+#ifndef FORWARD_COMMAND_CONTROLLER__VISIBILITY_CONTROL_H_
+#define FORWARD_COMMAND_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 FORWARD_COMMAND_CONTROLLER_EXPORT __attribute__ ((dllexport))
+    #define FORWARD_COMMAND_CONTROLLER_IMPORT __attribute__ ((dllimport))
+  #else
+    #define FORWARD_COMMAND_CONTROLLER_EXPORT __declspec(dllexport)
+    #define FORWARD_COMMAND_CONTROLLER_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef FORWARD_COMMAND_CONTROLLER_BUILDING_DLL
+    #define FORWARD_COMMAND_CONTROLLER_PUBLIC FORWARD_COMMAND_CONTROLLER_EXPORT
+  #else
+    #define FORWARD_COMMAND_CONTROLLER_PUBLIC FORWARD_COMMAND_CONTROLLER_IMPORT
+  #endif
+  #define FORWARD_COMMAND_CONTROLLER_PUBLIC_TYPE FORWARD_COMMAND_CONTROLLER_PUBLIC
+  #define FORWARD_COMMAND_CONTROLLER_LOCAL
+#else
+  #define FORWARD_COMMAND_CONTROLLER_EXPORT __attribute__ ((visibility("default")))
+  #define FORWARD_COMMAND_CONTROLLER_IMPORT
+  #if __GNUC__ >= 4
+    #define FORWARD_COMMAND_CONTROLLER_PUBLIC __attribute__ ((visibility("default")))
+    #define FORWARD_COMMAND_CONTROLLER_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define FORWARD_COMMAND_CONTROLLER_PUBLIC
+    #define FORWARD_COMMAND_CONTROLLER_LOCAL
+  #endif
+  #define FORWARD_COMMAND_CONTROLLER_PUBLIC_TYPE
+#endif
+
+#endif  // FORWARD_COMMAND_CONTROLLER__VISIBILITY_CONTROL_H_

forward_command_controller/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>forward_command_controller</name>
+  <version>0.0.0</version>
+  <description>Generic controller for forwarding commands.</description>
+  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
+  <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>controller_interface</depend>
+  <depend>hardware_interface</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>realtime_tools</depend>
+  <depend>std_msgs</depend>
+
+  <build_depend>pluginlib</build_depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>controller_manager</test_depend>
+  <test_depend>test_robot_hardware</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>