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Add TRAJ mode for gimbal #164

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merged 4 commits into from
Jul 28, 2024
Merged

Add TRAJ mode for gimbal #164

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9670317
Add TRAJ mode for gimbal.
1moule Jun 29, 2024
a5db247
Merge branch 'master' into traj
liyixin135 Jul 19, 2024
a74897e
Modify param name in msg.
liyixin135 Jul 19, 2024
867c5d7
Merge branch 'master' into traj
liyixin135 Jul 26, 2024
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4 changes: 3 additions & 1 deletion rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ class Controller : public controller_interface::MultiInterfaceController<rm_cont
void rate(const ros::Time& time, const ros::Duration& period);
void track(const ros::Time& time);
void direct(const ros::Time& time);
void traj(const ros::Time& time);
bool setDesIntoLimit(double& real_des, double current_des, double base2gimbal_current_des,
const urdf::JointConstSharedPtr& joint_urdf);
void moveJoint(const ros::Time& time, const ros::Duration& period);
Expand Down Expand Up @@ -199,7 +200,8 @@ class Controller : public controller_interface::MultiInterfaceController<rm_cont
{
RATE,
TRACK,
DIRECT
DIRECT,
TRAJ
};
int state_ = RATE;
};
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13 changes: 13 additions & 0 deletions rm_gimbal_controllers/src/gimbal_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,9 @@ void Controller::update(const ros::Time& time, const ros::Duration& period)
case DIRECT:
direct(time);
break;
case TRAJ:
traj(time);
break;
}
moveJoint(time, period);
}
Expand Down Expand Up @@ -356,6 +359,16 @@ void Controller::direct(const ros::Time& time)
setDes(time, yaw, pitch);
}

void Controller::traj(const ros::Time& time)
{
if (state_changed_)
{ // on enter
state_changed_ = false;
ROS_INFO("[Gimbal] Enter TRAJ");
}
setDes(time, cmd_gimbal_.traj_yaw, cmd_gimbal_.traj_pitch);
}

bool Controller::setDesIntoLimit(double& real_des, double current_des, double base2gimbal_current_des,
const urdf::JointConstSharedPtr& joint_urdf)
{
Expand Down
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