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hanbinzhenghanbinzheng
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add armor_tester_controller for meta_utils_controller
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‎decomposition/meta_utils_controller/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8) # the mininal version
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project(meta_utils_controller) # define the project name here, and it influence the variable ${PROJECT_NAME}
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# only acts for GCC and Clang
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED) # ament_cmake is mandatory
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find_package(ament_cmake_auto REQUIRED) # ament_cmake_auto is also mandatory
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ament_auto_find_build_dependencies() # scan the package.xml to get the dependencies
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# generate parameter library for controller
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generate_parameter_library(
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armor_tester_controller_parameters
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src/armor_tester_controller.yaml
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)
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# generate_parameter_lib (
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# name_of_target, -> to generate target_name.cpp
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# yaml_file, -> generate the parameter listeners based on which yaml file
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# )
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ament_auto_add_library(
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armor_tester_controller
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SHARED
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src/armor_tester_controller.cpp
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)
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# ament_auto_add_library (
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# target_package_name
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# SHARED/STATIC/OBJECT
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# sorce file
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# )
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target_include_directories(
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armor_tester_controller
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PUBLIC
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"$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
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)
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# target_include_directories(
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# cmake-target
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# PUBLIC
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# <BUILD_INTERFACE:.....> # used during build
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# <INSTALL_INTERFACE:...> # used during install
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# )
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# link the the parameter listeners
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target_link_libraries(
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armor_tester_controller
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armor_tester_controller_parameters
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)
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# target_link_libraries(
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# cmake-target-package
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# cmake-target that cmake-target-package depends on
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# )
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# where to find the description of the controller
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pluginlib_export_plugin_description_file(
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controller_interface
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armor_tester_controller.xml
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)
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# pluginlib_export_plugin_description_file(
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# base-class
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# description file
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# )
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# test for building
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_auto_package()

‎decomposition/meta_utils_controller/armor_tester_controller.xml‎

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<!--
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Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt)
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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Source of this file are templates in
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[RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository.
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-->
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<library path="armor_tester_controller">
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<class name="armor_tester_controller/ArmorTesterController"
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type="armor_tester_controller::ArmorTesterController" base_class_type="controller_interface::ChainableControllerInterface">
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<description>
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An Armor Tester Controller.
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</description>
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</class>
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</library>

‎decomposition/meta_utils_controller/include/meta_utils_controller/armor_tester_controller.hpp‎

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#ifndef ARMOR_TESTER_CONTROLLER_HPP_
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#define ARMOR_TESTER_CONTROLLER_HPP_
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#include <memory>
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#include <string>
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#include <vector>
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#include <control_toolbox/pid_ros.hpp>
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#include <rclcpp/subscription.hpp>
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#include "controller_interface/controller_interface.hpp"
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#include "controller_interface/chainable_controller_interface.hpp"
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#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
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#include "rclcpp/duration.hpp"
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#include "rclcpp_lifecycle/state.hpp"
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#include "realtime_tools/realtime_buffer.hpp"
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#include "realtime_tools/realtime_publisher.hpp"
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#include <meta_utils_controller/armor_tester_controller_parameters.hpp>
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#include "behavior_interface/msg/armor.hpp" // dji_vel, unitree_vel
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namespace armor_tester_controller // namespace begin here
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{
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class ArmorTesterController : public controller_interface::ChainableControllerInterface
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{
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public:
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ArmorTesterController() = default;
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// ControllerInterfaceBase and ChainableControllerInterface, a little strange
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~ArmorTesterController() = default;
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// override method from ControllerInterfaceBase (done?)
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controller_interface::InterfaceConfiguration command_interface_configuration() const override;
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// override method from ControllerInterfaceBase (done?)
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controller_interface::InterfaceConfiguration state_interface_configuration() const override;
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// override method from ControllerInterfaceBase (done)
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controller_interface::CallbackReturn on_init() override;
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// override method from ControllerInterfaceBase (done)
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controller_interface::CallbackReturn on_configure(
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const rclcpp_lifecycle::State & previous_state) override;
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// override method from ControllerInterfaceBase (done)
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controller_interface::CallbackReturn on_activate(
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const rclcpp_lifecycle::State & previous_state) override;
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// override method from ControllerInterfaceBase (done)
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controller_interface::CallbackReturn on_deactivate(
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const rclcpp_lifecycle::State & previous_state) override;
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// override method from ChainableControllerInterface
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controller_interface::return_type update_and_write_commands(
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const rclcpp::Time & time, const rclcpp::Duration & period) override;
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protected:
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// override method from ChainableControllerInterface
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controller_interface::return_type update_reference_from_subscribers() override;
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// parameters
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armor_tester_controller::Params params_;
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std::shared_ptr<armor_tester_controller::ParamListener> param_listener_;
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// pid for dji motor
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std::shared_ptr<control_toolbox::PidROS> dji_pid_;
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// for subscriber
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rclcpp::Subscription<behavior_interface::msg::Armor>::SharedPtr vel_subscriber_ = nullptr;
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realtime_tools::RealtimeBuffer<std::shared_ptr<behavior_interface::msg::Armor>> vel_buffer_;
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// override method from ChainableControllerInterface (done)
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std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
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private:
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// callback function for subscriber (done)
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void velocity_callback(const std::shared_ptr<behavior_interface::msg::Armor> msg);
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}; // class definition ends here
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} // namespace ends here
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#endif // ARMOR_TESTER_CONTROLLER_HPP_

‎decomposition/meta_utils_controller/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>meta_utils_controller</name>
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<version>0.0.0</version>
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<description>Package for Meta Utils</description>
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<maintainer email="[email protected]">hanbinzheng</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<build_depend>generate_parameter_library</build_depend>
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<depend>operation_interface</depend>
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<depend>geometry_msgs</depend>
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<depend>behavior_interface</depend>
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<depend>control_msgs</depend>
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<depend>control_toolbox</depend>
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<depend>controller_interface</depend>
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<depend>hardware_interface</depend>
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<depend>realtime_tools</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_lifecycle</depend>
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<depend>rclcpp_components</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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