Class DynupNode

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class bitbots_dynup::DynupNode : public rclcpp::Node

DynupNode is that part of bitbots_dynamic_DynUp which takes care of interacting with ROS and utilizes a DynUpEngine to calculate actual DynUp behavior.

It provides an ActionServer for the bitbots_msgs::DynUpAction. This actionServer accepts new goals in any tf frame, and sets up the DynUpEngines to work towards this new goal

Additionally it publishes the DynUpEngines motor-goals back into ROS

Public Functions

explicit DynupNode(const std::string &ns = "", std::vector<rclcpp::Parameter> parameters = {})
rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter> &parameters)
void imuCallback(const sensor_msgs::msg::Imu::SharedPtr msg)
void jointStateCallback(const sensor_msgs::msg::JointState::SharedPtr jointstates)
DynupEngine *getEngine()
DynupIK *getIK()
bitbots_dynup::msg::DynupPoses getCurrentPoses()

Retrieve current positions of left foot and trunk relative to right foot

Returns

The pair of (right foot, left foot) poses if transformation was successfull

bitbots_msgs::msg::JointCommand step(double dt)
bitbots_msgs::msg::JointCommand step(double dt, const sensor_msgs::msg::Imu::SharedPtr imu_msg, const sensor_msgs::msg::JointState::SharedPtr jointstate_msg)
geometry_msgs::msg::PoseArray step_open_loop(double dt)
void reset(int time = 0)

Private Functions

rclcpp_action::GoalResponse goalCb(const rclcpp_action::GoalUUID &uuid, std::shared_ptr<const DynupGoal::Goal> goal)

Callback that gets executed whenever #m_server receives a new goal.

Parameters

goal – New goal to process

rclcpp_action::CancelResponse cancelCb(std::shared_ptr<DynupGoalHandle> goal)
void acceptedCb(const std::shared_ptr<DynupGoalHandle> goal)
void execute(const std::shared_ptr<DynupGoalHandle> goal)
void loopEngine(int, std::shared_ptr<DynupGoalHandle> goal_handle)

Do main loop in which DynUpEngine::tick() gets called repeatedly. The ActionServer’s state is taken into account meaning that a cancelled goal no longer gets processed.

void publishSupportFoot(bool is_left_dyn_up)

Publish the current support_foot so that a correct base_footprint can be calculated

Parameters

is_left_dyn_up – Whether the left foot is the current DynUping foot, meaning it is in the air

bitbots_msgs::msg::JointCommand createGoalMsg(const bitbots_splines::JointGoals &goals)

Creates the Goal Msg

double getTimeDelta()

Helper method to achieve correctly sampled rate

Private Members

rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr debug_publisher_
rclcpp::Publisher<bitbots_msgs::msg::JointCommand>::SharedPtr joint_goal_publisher_
rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr cop_subscriber_
rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_subscriber_
std::vector<std::string> param_names_
rclcpp_action::Server<DynupGoal>::SharedPtr action_server_
OnSetParametersCallbackHandle::SharedPtr callback_handle_
DynupEngine engine_
Stabilizer stabilizer_
Visualizer visualizer_
DynupIK ik_
std::map<std::string, rclcpp::Parameter> params_
int stable_duration_
int engine_rate_
int failed_tick_counter_
double last_ros_update_time_
double start_time_
bool server_free_
bool debug_
std::unique_ptr<tf2_ros::Buffer> tf_buffer_
std::shared_ptr<tf2_ros::TransformListener> tf_listener_
std::shared_ptr<robot_model_loader::RobotModelLoader> robot_model_loader_
moveit::core::RobotModelPtr kinematic_model_
std::string base_link_frame_
std::string l_sole_frame_
std::string r_sole_frame_
std::string l_wrist_frame_
std::string r_wrist_frame_