| 1 | /* |
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| 2 | * esc_ros.cpp |
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| 3 | * |
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| 4 | * Created on: Jul 26, 2012 |
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| 5 | * Author: Berk Calli, Wouter Caarls |
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| 6 | * Organization: Delft Biorobotics Lab., Delft University of Technology |
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| 7 | * Contact info: b.calli@tudelft.nl, web: www.dbl.tudelft.nl |
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| 8 | * |
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| 9 | * ROS wrapper for extremum seeking control nodes. |
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| 10 | */ |
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| 11 | #include <esc_ros/esc_ros.h> |
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| 12 | |
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| 13 | |
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| 14 | ESCROS::ESCROS(ros::NodeHandle* n){ |
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| 15 | n_ = n; |
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| 16 | initialized_ = false; |
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| 17 | |
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| 18 | } |
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| 19 | |
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| 20 | void ESCROS::init(ESC* esc) |
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| 21 | { |
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| 22 | if(!n_) |
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| 23 | n_ = new ros::NodeHandle(); |
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| 24 | |
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| 25 | esc_ = esc; |
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| 26 | |
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| 27 | if (!n_->getParam("period", period_)){ |
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| 28 | ROS_WARN("[nn_esc_1D]: Failed to get the parameter period from the parameter server. Using the default value."); |
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| 29 | period_ = 0; |
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| 30 | } |
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| 31 | |
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| 32 | if (!n_->getParam("monitor", monitor_)){ |
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| 33 | ROS_WARN("[nn_esc_1D]: Failed to get the parameter monitor from the parameter server. Using the default value."); |
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| 34 | monitor_ = false; |
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| 35 | } |
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| 36 | if(esc_->getInputType() == esc_->inputValue) |
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| 37 | sub_obj_val_ = n_->subscribe("obj_val", 1, &ESCROS::objValCallback, this); |
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| 38 | else if (esc_->getInputType() == esc_->inputStateValue) |
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| 39 | sub_obj_val_ = n_->subscribe("esc_in", 1, &ESCROS::objValWithStateCallback, this); |
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| 40 | else |
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| 41 | ROS_WARN("The input value is not specified. The subscriber will not be created."); |
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| 42 | |
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| 43 | if(esc_->getOutputType() == esc_->outputVelocity) |
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| 44 | pub_ref_ = n_->advertise<std_msgs::Float32MultiArray>("vel_ref",1); |
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| 45 | else if(esc_->getOutputType() == esc_->outputPosition) |
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| 46 | pub_ref_ = n_->advertise<std_msgs::Float32MultiArray>("pos_ref",1); |
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| 47 | else |
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| 48 | ROS_WARN("The output value is not specified. The output of the ESC can not be published."); |
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| 49 | |
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| 50 | if(monitor_){ |
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| 51 | pub_monitor_ = n_->advertise<esc_ros::Monitors>("monitor_out",1); |
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| 52 | } |
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| 53 | |
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| 54 | initialized_ = true; |
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| 55 | first_obj_val_received_ = false; |
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| 56 | |
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| 57 | } |
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| 58 | |
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| 59 | void ESCROS::objValWithStateCallback(esc_ros::StateValue msg) |
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| 60 | { |
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| 61 | obj_val_ = msg.value; |
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| 62 | state_vec_.resize(msg.state.size()); |
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| 63 | for (size_t ii=0; ii < state_vec_.size(); ++ii) |
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| 64 | state_vec_[ii] = msg.state[ii]; |
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| 65 | if(!first_obj_val_received_) |
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| 66 | first_obj_val_received_ = true; |
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| 67 | |
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| 68 | } |
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| 69 | |
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| 70 | void ESCROS::objValCallback(std_msgs::Float32 msg) |
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| 71 | { |
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| 72 | obj_val_ = msg.data; |
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| 73 | if(!first_obj_val_received_) |
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| 74 | first_obj_val_received_ = true; |
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| 75 | |
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| 76 | } |
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| 77 | |
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| 78 | void ESCROS::step() |
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| 79 | { |
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| 80 | |
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| 81 | if(initialized_){ |
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| 82 | if(first_obj_val_received_){ |
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| 83 | std::vector<double> out; |
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| 84 | if(esc_->getInputType() == esc_->inputValue) |
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| 85 | out = esc_->step(obj_val_); |
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| 86 | else if (esc_->getInputType() == esc_->inputStateValue) |
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| 87 | out = esc_->step(state_vec_,obj_val_); |
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| 88 | else |
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| 89 | ROS_WARN("Invalid input type for the extremum seeking controller. The step function will not be executed."); |
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| 90 | |
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| 91 | if (out.empty()){ |
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| 92 | return; |
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| 93 | } |
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| 94 | |
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| 95 | std_msgs::Float32MultiArray msg; |
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| 96 | for(size_t i=0;i<out.size();i++) |
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| 97 | msg.data.push_back(out[i]); |
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| 98 | pub_ref_.publish(msg); |
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| 99 | |
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| 100 | if(monitor_){ |
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| 101 | esc_ros::Monitors msg_monitor; |
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| 102 | std::vector<double> values = esc_->monitor(); |
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| 103 | |
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| 104 | msg_monitor.values.resize(values.size()); |
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| 105 | for (size_t ii=0; ii < values.size(); ++ii) |
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| 106 | msg_monitor.values[ii] = values[ii]; |
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| 107 | msg_monitor.names = esc_->monitorNames(); |
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| 108 | pub_monitor_.publish(msg_monitor); |
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| 109 | } |
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| 110 | } |
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| 111 | } |
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| 112 | else |
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| 113 | ROS_WARN("ESC class is not initialized. Its functions will not be executed."); |
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| 114 | } |
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| 115 | |
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| 116 | void ESCROS::spin() |
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| 117 | { |
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| 118 | ros::Rate loop_rate(1.0/period_); |
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| 119 | |
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| 120 | while (n_->ok()) { |
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| 121 | ros::spinOnce(); |
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| 122 | step(); |
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| 123 | loop_rate.sleep(); |
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| 124 | } |
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| 125 | } |
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