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Updated ISMC to use twist stamped state message and refactored realti…
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…me buffers to copy message instead of pointer (#45) (#47)

(cherry picked from commit 0a29970)

Co-authored-by: Evan Palmer <evanp922@gmail.com>
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mergify[bot] and evan-palmer authored Sep 25, 2024
1 parent c218b69 commit 9301aec
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Showing 6 changed files with 52 additions and 52 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ class ThrusterAllocationMatrixController : public controller_interface::Chainabl

auto configure_parameters() -> controller_interface::CallbackReturn;

realtime_tools::RealtimeBuffer<std::shared_ptr<geometry_msgs::msg::Wrench>> reference_;
realtime_tools::RealtimeBuffer<geometry_msgs::msg::Wrench> reference_;
std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::Wrench>> reference_sub_;

std::shared_ptr<rclcpp::Publisher<auv_control_msgs::msg::MultiActuatorStateStamped>> controller_state_pub_;
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ namespace thruster_allocation_matrix_controller
namespace
{

auto reset_wrench_msg(std::shared_ptr<geometry_msgs::msg::Wrench> wrench_msg) -> void // NOLINT
auto reset_wrench_msg(geometry_msgs::msg::Wrench * wrench_msg) -> void // NOLINT
{
wrench_msg->force.x = std::numeric_limits<double>::quiet_NaN();
wrench_msg->force.y = std::numeric_limits<double>::quiet_NaN();
Expand Down Expand Up @@ -122,16 +122,15 @@ auto ThrusterAllocationMatrixController::on_configure(const rclcpp_lifecycle::St
return ret;
}

const auto reference_msg = std::make_shared<geometry_msgs::msg::Wrench>();
reference_.writeFromNonRT(reference_msg);
reference_.writeFromNonRT(geometry_msgs::msg::Wrench());

command_interfaces_.reserve(num_thrusters_);

reference_sub_ = get_node()->create_subscription<geometry_msgs::msg::Wrench>(
"~/reference",
rclcpp::SystemDefaultsQoS(),
[this](const std::shared_ptr<geometry_msgs::msg::Wrench> msg) { // NOLINT
reference_.writeFromNonRT(msg);
reference_.writeFromNonRT(*msg);
});

controller_state_pub_ = get_node()->create_publisher<auv_control_msgs::msg::MultiActuatorStateStamped>(
Expand All @@ -153,7 +152,7 @@ auto ThrusterAllocationMatrixController::on_configure(const rclcpp_lifecycle::St
auto ThrusterAllocationMatrixController::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
-> controller_interface::CallbackReturn
{
reset_wrench_msg(*(reference_.readFromNonRT()));
reset_wrench_msg(reference_.readFromNonRT());
reference_interfaces_.assign(reference_interfaces_.size(), std::numeric_limits<double>::quiet_NaN());
return controller_interface::CallbackReturn::SUCCESS;
}
Expand Down Expand Up @@ -209,20 +208,20 @@ auto ThrusterAllocationMatrixController::update_reference_from_subscribers() ->
auto * current_reference = reference_.readFromNonRT();

const std::vector<double> wrench = {
(*current_reference)->force.x,
(*current_reference)->force.y,
(*current_reference)->force.z,
(*current_reference)->torque.x,
(*current_reference)->torque.y,
(*current_reference)->torque.z};
current_reference->force.x,
current_reference->force.y,
current_reference->force.z,
current_reference->torque.x,
current_reference->torque.y,
current_reference->torque.z};

for (std::size_t i = 0; i < wrench.size(); ++i) {
if (!std::isnan(wrench[i])) {
reference_interfaces_[i] = wrench[i];
}
}

reset_wrench_msg(*current_reference);
reset_wrench_msg(current_reference);

return controller_interface::return_type::OK;
}
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ class PolynomialThrustCurveController : public controller_interface::ChainableCo

auto configure_parameters() -> controller_interface::CallbackReturn;

realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64>> reference_;
realtime_tools::RealtimeBuffer<std_msgs::msg::Float64> reference_;
std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Float64>> reference_sub_;

std::shared_ptr<rclcpp::Publisher<control_msgs::msg::SingleDOFStateStamped>> controller_state_pub_;
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11 changes: 5 additions & 6 deletions thruster_controllers/src/polynomial_thrust_curve_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -81,14 +81,13 @@ auto PolynomialThrustCurveController::on_configure(const rclcpp_lifecycle::State
return ret;
}

const auto reference_msg = std::make_shared<std_msgs::msg::Float64>();
reference_.writeFromNonRT(reference_msg);
reference_.writeFromNonRT(std_msgs::msg::Float64());

command_interfaces_.reserve(1);

reference_sub_ = get_node()->create_subscription<std_msgs::msg::Float64>(
"~/reference", rclcpp::SystemDefaultsQoS(), [this](const std::shared_ptr<std_msgs::msg::Float64> msg) { // NOLINT
reference_.writeFromNonRT(msg);
reference_.writeFromNonRT(*msg);
});

controller_state_pub_ =
Expand All @@ -107,7 +106,7 @@ auto PolynomialThrustCurveController::on_configure(const rclcpp_lifecycle::State
auto PolynomialThrustCurveController::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
-> controller_interface::CallbackReturn
{
(*reference_.readFromNonRT())->data = std::numeric_limits<double>::quiet_NaN();
reference_.readFromNonRT()->data = std::numeric_limits<double>::quiet_NaN();
reference_interfaces_.assign(reference_interfaces_.size(), std::numeric_limits<double>::quiet_NaN());
return controller_interface::CallbackReturn::SUCCESS;
}
Expand Down Expand Up @@ -153,8 +152,8 @@ auto PolynomialThrustCurveController::on_export_reference_interfaces()
auto PolynomialThrustCurveController::update_reference_from_subscribers() -> controller_interface::return_type
{
auto * current_reference = reference_.readFromNonRT();
reference_interfaces_[0] = (*current_reference)->data;
(*current_reference)->data = std::numeric_limits<double>::quiet_NaN();
reference_interfaces_[0] = current_reference->data;
current_reference->data = std::numeric_limits<double>::quiet_NaN();

return controller_interface::return_type::OK;
}
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
#include "control_msgs/msg/multi_dof_state_stamped.hpp"
#include "controller_interface/chainable_controller_interface.hpp"
#include "controller_interface/controller_interface.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "hydrodynamics/eigen.hpp"
#include "hydrodynamics/hydrodynamics.hpp"
#include "rclcpp/rclcpp.hpp"
Expand Down Expand Up @@ -83,11 +83,11 @@ class IntegralSlidingModeController : public controller_interface::ChainableCont

auto configure_parameters() -> controller_interface::CallbackReturn;

realtime_tools::RealtimeBuffer<std::shared_ptr<geometry_msgs::msg::Twist>> reference_;
realtime_tools::RealtimeBuffer<geometry_msgs::msg::Twist> reference_;
std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::Twist>> reference_sub_;

realtime_tools::RealtimeBuffer<std::shared_ptr<geometry_msgs::msg::Twist>> system_state_;
std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::Twist>> system_state_sub_;
realtime_tools::RealtimeBuffer<geometry_msgs::msg::Twist> system_state_;
std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::TwistStamped>> system_state_sub_;
std::vector<double> system_state_values_;

// We need the system rotation from the inertial frame to the vehicle frame for the hydrodynamic model.
Expand Down
58 changes: 30 additions & 28 deletions velocity_controllers/src/integral_sliding_mode_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ namespace velocity_controllers
namespace
{

void reset_twist_msg(std::shared_ptr<geometry_msgs::msg::Twist> msg) // NOLINT
void reset_twist_msg(geometry_msgs::msg::Twist * msg) // NOLINT
{
msg->linear.x = std::numeric_limits<double>::quiet_NaN();
msg->linear.y = std::numeric_limits<double>::quiet_NaN();
Expand All @@ -62,6 +62,12 @@ auto IntegralSlidingModeController::on_init() -> controller_interface::CallbackR
return controller_interface::CallbackReturn::ERROR;
}

// Notify users about this. This can be confusing for folks that expect the controller to work without a reference
// or state message.
RCLCPP_INFO(
get_node()->get_logger(),
"Reference and state messages are required for operation - commands will not be sent until both are received.");

return controller_interface::CallbackReturn::SUCCESS;
}

Expand Down Expand Up @@ -177,11 +183,8 @@ auto IntegralSlidingModeController::on_configure(const rclcpp_lifecycle::State &
return ret;
}

const auto reference_msg = std::make_shared<geometry_msgs::msg::Twist>();
reference_.writeFromNonRT(reference_msg);

const auto system_state_msg = std::make_shared<geometry_msgs::msg::Twist>();
system_state_.writeFromNonRT(system_state_msg);
reference_.writeFromNonRT(geometry_msgs::msg::Twist());
system_state_.writeFromNonRT(geometry_msgs::msg::Twist());

command_interfaces_.reserve(DOF);

Expand All @@ -191,16 +194,16 @@ auto IntegralSlidingModeController::on_configure(const rclcpp_lifecycle::State &
"~/reference",
rclcpp::SystemDefaultsQoS(),
[this](const std::shared_ptr<geometry_msgs::msg::Twist> msg) { // NOLINT
reference_.writeFromNonRT(msg);
reference_.writeFromNonRT(*msg);
}); // NOLINT

// If we aren't reading from the state interfaces, subscribe to the system state topic
if (params_.use_external_measured_states) {
system_state_sub_ = get_node()->create_subscription<geometry_msgs::msg::Twist>(
system_state_sub_ = get_node()->create_subscription<geometry_msgs::msg::TwistStamped>(
"~/system_state",
rclcpp::SystemDefaultsQoS(),
[this](const std::shared_ptr<geometry_msgs::msg::Twist> msg) { // NOLINT
system_state_.writeFromNonRT(msg);
[this](const std::shared_ptr<geometry_msgs::msg::TwistStamped> msg) { // NOLINT
system_state_.writeFromNonRT(msg->twist);
});
}

Expand Down Expand Up @@ -235,8 +238,8 @@ auto IntegralSlidingModeController::on_activate(const rclcpp_lifecycle::State &

system_rotation_.writeFromNonRT(Eigen::Quaterniond::Identity());

reset_twist_msg(*(reference_.readFromNonRT()));
reset_twist_msg(*(system_state_.readFromNonRT()));
reset_twist_msg(reference_.readFromNonRT());
reset_twist_msg(system_state_.readFromNonRT());

reference_interfaces_.assign(reference_interfaces_.size(), std::numeric_limits<double>::quiet_NaN());
system_state_values_.assign(system_state_values_.size(), std::numeric_limits<double>::quiet_NaN());
Expand All @@ -257,20 +260,20 @@ auto IntegralSlidingModeController::update_reference_from_subscribers() -> contr
auto * current_reference = reference_.readFromNonRT();

const std::vector<double> reference = {
(*current_reference)->linear.x,
(*current_reference)->linear.y,
(*current_reference)->linear.z,
(*current_reference)->angular.x,
(*current_reference)->angular.y,
(*current_reference)->angular.z};
current_reference->linear.x,
current_reference->linear.y,
current_reference->linear.z,
current_reference->angular.x,
current_reference->angular.y,
current_reference->angular.z};

for (std::size_t i = 0; i < reference.size(); ++i) {
if (!std::isnan(reference[i])) {
reference_interfaces_[i] = reference[i];
}
}

reset_twist_msg(*current_reference);
reset_twist_msg(current_reference);

return controller_interface::return_type::OK;
}
Expand All @@ -281,20 +284,20 @@ auto IntegralSlidingModeController::update_system_state_values() -> controller_i
auto * current_system_state = system_state_.readFromRT();

const std::vector<double> state = {
(*current_system_state)->linear.x,
(*current_system_state)->linear.y,
(*current_system_state)->linear.z,
(*current_system_state)->angular.x,
(*current_system_state)->angular.y,
(*current_system_state)->angular.z};
current_system_state->linear.x,
current_system_state->linear.y,
current_system_state->linear.z,
current_system_state->angular.x,
current_system_state->angular.y,
current_system_state->angular.z};

for (std::size_t i = 0; i < state.size(); ++i) {
if (!std::isnan(state[i])) {
system_state_values_[i] = state[i];
}
}

reset_twist_msg(*current_system_state);
reset_twist_msg(current_system_state);
} else {
for (std::size_t i = 0; i < system_state_values_.size(); ++i) {
system_state_values_[i] = state_interfaces_[i].get_value();
Expand Down Expand Up @@ -332,7 +335,7 @@ auto IntegralSlidingModeController::update_and_write_commands(
auto all_nan =
std ::all_of(velocity_error_values.begin(), velocity_error_values.end(), [&](double i) { return std::isnan(i); });
if (all_nan) {
RCLCPP_DEBUG(get_node()->get_logger(), "All reference and system state values are NaN. Skipping control update.");
RCLCPP_DEBUG(get_node()->get_logger(), "All velocity error values are NaN. Skipping control update.");
return controller_interface::return_type::OK;
}

Expand Down Expand Up @@ -377,7 +380,6 @@ auto IntegralSlidingModeController::update_and_write_commands(

// Apply the sign function to the surface
// Right now, we use the tanh function to reduce the chattering effect.
// TODO(evan-palmer): Implement the super twisting algorithm to improve this further
surface = surface.unaryExpr([this](double x) { return std::tanh(x / boundary_thickness_); });

// Calculate the disturbance rejection torque
Expand Down

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