Generic controller state msg instead of Ackermann msg.

ros-controls · Nov 10, 2023 · 8923c5f · 8923c5f
1 parent dc5b3b4
commit 8923c5f
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Showing 8 changed files with 9 additions and 14 deletions.
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -34,7 +34,7 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermanControllerState;
+  steering_controllers_library::SteeringControllersLibrary::SteeringControllerStateMsg;
 using ControllerReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;
 

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -34,7 +34,7 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermanControllerState;
+  steering_controllers_library::SteeringControllersLibrary::SteeringControllerStateMsg;
 using ControllerReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;
 

diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt
@@ -21,7 +21,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   tf2
   tf2_msgs
   tf2_geometry_msgs
-  ackermann_msgs
 )
 
 find_package(ament_cmake REQUIRED)

diff --git a/...controllers_library/include/steering_controllers_library/steering_controllers_library.hpp b/...controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
@@ -35,7 +35,6 @@
 #include "steering_controllers_library_parameters.hpp"
 
 // TODO(anyone): Replace with controller specific messages
-#include "ackermann_msgs/msg/ackermann_drive_stamped.hpp"
 #include "control_msgs/msg/steering_controller_status.hpp"
 #include "geometry_msgs/msg/twist.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
@@ -81,11 +80,10 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
   STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::return_type
   update_and_write_commands(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  using ControllerAckermannReferenceMsg = ackermann_msgs::msg::AckermannDriveStamped;
   using ControllerTwistReferenceMsg = geometry_msgs::msg::TwistStamped;
   using ControllerStateMsgOdom = nav_msgs::msg::Odometry;
   using ControllerStateMsgTf = tf2_msgs::msg::TFMessage;
-  using AckermanControllerState = control_msgs::msg::SteeringControllerStatus;
+  using SteeringControllerStateMsg = control_msgs::msg::SteeringControllerStatus;
 
 protected:
   controller_interface::CallbackReturn set_interface_numbers(
@@ -96,7 +94,6 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
 
   // Command subscribers and Controller State publisher
   rclcpp::Subscription<ControllerTwistReferenceMsg>::SharedPtr ref_subscriber_twist_ = nullptr;
-  rclcpp::Subscription<ControllerTwistReferenceMsg>::SharedPtr ref_subscriber_ackermann_ = nullptr;
   rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr ref_subscriber_unstamped_ = nullptr;
   realtime_tools::RealtimeBuffer<std::shared_ptr<ControllerTwistReferenceMsg>> input_ref_;
   rclcpp::Duration ref_timeout_ = rclcpp::Duration::from_seconds(0.0);  // 0ms
@@ -118,10 +115,10 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
   /// Odometry:
   steering_odometry::SteeringOdometry odometry_;
 
-  AckermanControllerState published_state_;
+  SteeringControllerStateMsg published_state_;
 
-  using ControllerStatePublisher = realtime_tools::RealtimePublisher<AckermanControllerState>;
-  rclcpp::Publisher<AckermanControllerState>::SharedPtr controller_s_publisher_;
+  using ControllerStatePublisher = realtime_tools::RealtimePublisher<SteeringControllerStateMsg>;
+  rclcpp::Publisher<SteeringControllerStateMsg>::SharedPtr controller_s_publisher_;
   std::unique_ptr<ControllerStatePublisher> controller_state_publisher_;
 
   // name constants for state interfaces

diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml
@@ -31,7 +31,6 @@
   <depend>tf2</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>ackermann_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>

diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp
@@ -192,7 +192,7 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_configure(
   try
   {
     // State publisher
-    controller_s_publisher_ = get_node()->create_publisher<AckermanControllerState>(
+    controller_s_publisher_ = get_node()->create_publisher<SteeringControllerStateMsg>(
       "~/controller_state", rclcpp::SystemDefaultsQoS());
     controller_state_publisher_ =
       std::make_unique<ControllerStatePublisher>(controller_s_publisher_);

diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp
@@ -34,7 +34,7 @@
 #include "steering_controllers_library/steering_controllers_library.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermanControllerState;
+  steering_controllers_library::SteeringControllersLibrary::SteeringControllerStateMsg;
 using ControllerReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;
 

diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -34,7 +34,7 @@
 #include "tricycle_steering_controller/tricycle_steering_controller.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermanControllerState;
+  steering_controllers_library::SteeringControllersLibrary::SteeringControllerStateMsg;
 using ControllerReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;