ControlNode Class Reference

Class responsible for the ROS2 communication of the control module. More...

#include <ros_node.hpp>

Inheritance diagram for ControlNode:

Collaboration diagram for ControlNode:

Public Member Functions
	ControlNode (const ControlParameters &params)

Protected Member Functions
void	vehicle_pose_callback (const custom_interfaces::msg::Pose &msg)
	Called when a new vehicle pose is received.
void	path_callback (const custom_interfaces::msg::PathPointArray &msg)
	Called when a new path is received.
void	vehicle_state_callback (const custom_interfaces::msg::Velocities &msg)
	Called when a new velocity is received.

Protected Attributes
bool	go_signal_ {false}
ControlParameters	params_

Private Member Functions
void	control_timer_callback ()
	Function that publishes control commands on timer ticks.
virtual void	publish_command (common_lib::structures::ControlCommand cmd)=0
	Adapters override this function to publish control commands in their environment.

Private Attributes
std::shared_ptr< std::vector< double > >	_execution_times_
std::map< std::string, std::shared_ptr< rclcpp::PublisherBase > >	publisher_map_
std::shared_ptr< ControlSolver >	control_solver_
rclcpp::Publisher< std_msgs::msg::Float64MultiArray >::SharedPtr	execution_time_pub_
rclcpp::TimerBase::SharedPtr	control_timer_
rclcpp::Subscription< custom_interfaces::msg::PathPointArray >::SharedPtr	path_point_array_sub_
rclcpp::Subscription< custom_interfaces::msg::Pose >::SharedPtr	vehicle_pose_sub_
rclcpp::Subscription< custom_interfaces::msg::Velocities >::SharedPtr	velocity_sub_

Detailed Description

Class responsible for the ROS2 communication of the control module.

This class inherits from rclcpp::Node, subscribing to current state (velocity), pose and path topics, and publishing a control command.

Definition at line 26 of file ros_node.hpp.

Constructor & Destructor Documentation

ControlNode()

ControlNode::ControlNode ( const ControlParameters &  params )

explicit

Definition at line 5 of file ros_node.cpp.

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Member Function Documentation

control_timer_callback()

void ControlNode::control_timer_callback ( )

private

Function that publishes control commands on timer ticks.

Definition at line 30 of file ros_node.cpp.

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path_callback()

void ControlNode::path_callback ( const custom_interfaces::msg::PathPointArray &  msg )

protected

Called when a new path is received.

Parameters

msg	The received path message

Definition at line 51 of file ros_node.cpp.

publish_command()

virtual void ControlNode::publish_command ( common_lib::structures::ControlCommand  cmd )

privatepure virtual

Adapters override this function to publish control commands in their environment.

Parameters

cmd	Control command to be published

Implemented in EufsAdapter, PacSimAdapter, and VehicleAdapter.

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vehicle_pose_callback()

void ControlNode::vehicle_pose_callback ( const custom_interfaces::msg::Pose &  msg )

protected

Called when a new vehicle pose is received.

Parameters

msg	The received pose message

Definition at line 47 of file ros_node.cpp.

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vehicle_state_callback()

void ControlNode::vehicle_state_callback ( const custom_interfaces::msg::Velocities &  msg )

protected

Called when a new velocity is received.

Parameters

msg	The received velocity message

Definition at line 55 of file ros_node.cpp.

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Member Data Documentation

_execution_times_

std::shared_ptr<std::vector<double> > ControlNode::_execution_times_

private

Definition at line 51 of file ros_node.hpp.

control_solver_

std::shared_ptr<ControlSolver> ControlNode::control_solver_

private

Definition at line 57 of file ros_node.hpp.

control_timer_

rclcpp::TimerBase::SharedPtr ControlNode::control_timer_

private

Definition at line 63 of file ros_node.hpp.

execution_time_pub_

rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr ControlNode::execution_time_pub_

private

Definition at line 60 of file ros_node.hpp.

go_signal_

bool ControlNode::go_signal_ {false}

protected

Definition at line 28 of file ros_node.hpp.

params_

ControlParameters ControlNode::params_

protected

Definition at line 29 of file ros_node.hpp.

path_point_array_sub_

rclcpp::Subscription<custom_interfaces::msg::PathPointArray>::SharedPtr ControlNode::path_point_array_sub_

private

Definition at line 66 of file ros_node.hpp.

publisher_map_

std::map<std::string, std::shared_ptr<rclcpp::PublisherBase> > ControlNode::publisher_map_

private

Definition at line 54 of file ros_node.hpp.

vehicle_pose_sub_

rclcpp::Subscription<custom_interfaces::msg::Pose>::SharedPtr ControlNode::vehicle_pose_sub_

private

Definition at line 67 of file ros_node.hpp.

velocity_sub_

rclcpp::Subscription<custom_interfaces::msg::Velocities>::SharedPtr ControlNode::velocity_sub_

private

Definition at line 68 of file ros_node.hpp.

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The documentation for this class was generated from the following files:

• src/control/include/ros_node/ros_node.hpp
• src/control/src/ros_node/ros_node.cpp