[tricycle_controller] Use generate_parameter_library (backport #957) (#…

…991)

tricycle_controller/CMakeLists.txt

@@ -10,6 +10,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   builtin_interfaces
   controller_interface
   geometry_msgs
+  generate_parameter_library
   hardware_interface
   nav_msgs
   pluginlib
@@ -28,6 +29,10 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
+generate_parameter_library(tricycle_controller_parameters
+  src/tricycle_controller_parameter.yaml
+)
+
 add_library(tricycle_controller SHARED
   src/tricycle_controller.cpp
   src/odometry.cpp
@@ -39,6 +44,7 @@ target_include_directories(tricycle_controller PUBLIC
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/tricycle_controller>
 )
+target_link_libraries(tricycle_controller PUBLIC tricycle_controller_parameters)
 ament_target_dependencies(tricycle_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 target_compile_definitions(tricycle_controller PRIVATE _USE_MATH_DEFINES)
 
@@ -50,8 +56,7 @@ if(BUILD_TESTING)
   find_package(ros2_control_test_assets REQUIRED)
 
   ament_add_gmock(test_tricycle_controller
-    test/test_tricycle_controller.cpp
-    ENV config_file=${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_tricycle_controller.yaml)
+    test/test_tricycle_controller.cpp)
   target_link_libraries(test_tricycle_controller
     tricycle_controller
   )
@@ -66,8 +71,9 @@ if(BUILD_TESTING)
     tf2_msgs
   )
 
-  ament_add_gmock(test_load_tricycle_controller
+  add_rostest_with_parameters_gmock(test_load_tricycle_controller
     test/test_load_tricycle_controller.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_tricycle_controller.yaml
   )
   target_link_libraries(test_load_tricycle_controller
     tricycle_controller
@@ -85,6 +91,7 @@ install(
 install(
   TARGETS
     tricycle_controller
+    tricycle_controller_parameters
   EXPORT export_tricycle_controller
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib

tricycle_controller/doc/userdoc.rst

@@ -5,7 +5,8 @@
 tricycle_controller
 =====================
 
-Controller for mobile robots with tricycle drive.
+Controller for mobile robots with a single double-actuated wheel, including traction and steering. An example is a tricycle robot with the actuated wheel in the front and two trailing wheels on the rear axle.
+
 Input for control are robot base_link twist commands which are translated to traction and steering
 commands for the tricycle drive base. Odometry is computed from hardware feedback and published.
 
@@ -24,3 +25,10 @@ Other features
     Odometry publishing
     Velocity, acceleration and jerk limits
     Automatic stop after command timeout
+
+Parameters
+--------------
+
+This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
+
+.. generate_parameter_library_details:: ../src/tricycle_controller_parameter.yaml

tricycle_controller/include/tricycle_controller/tricycle_controller.hpp

@@ -45,6 +45,9 @@
 #include "tricycle_controller/traction_limiter.hpp"
 #include "tricycle_controller/visibility_control.h"
 
+// auto-generated by generate_parameter_library
+#include "tricycle_controller_parameters.hpp"
+
 namespace tricycle_controller
 {
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
@@ -109,31 +112,14 @@ class TricycleController : public controller_interface::ControllerInterface
   double convert_trans_rot_vel_to_steering_angle(double v, double omega, double wheelbase);
   std::tuple<double, double> twist_to_ackermann(double linear_command, double angular_command);
 
-  std::string traction_joint_name_;
-  std::string steering_joint_name_;
+  // Parameters from ROS for tricycle_controller
+  std::shared_ptr<ParamListener> param_listener_;
+  Params params_;
 
   // HACK: put into vector to avoid initializing structs because they have no default constructors
   std::vector<TractionHandle> traction_joint_;
   std::vector<SteeringHandle> steering_joint_;
 
-  struct WheelParams
-  {
-    double wheelbase = 0.0;
-    double radius = 0.0;
-  } wheel_params_;
-
-  struct OdometryParams
-  {
-    bool open_loop = false;
-    bool enable_odom_tf = false;
-    bool odom_only_twist = false;  // for doing the pose integration in separate node
-    std::string base_frame_id = "base_link";
-    std::string odom_frame_id = "odom";
-    std::array<double, 6> pose_covariance_diagonal;
-    std::array<double, 6> twist_covariance_diagonal;
-  } odom_params_;
-
-  bool publish_ackermann_command_ = false;
   std::shared_ptr<rclcpp::Publisher<AckermannDrive>> ackermann_command_publisher_ = nullptr;
   std::shared_ptr<realtime_tools::RealtimePublisher<AckermannDrive>>
     realtime_ackermann_command_publisher_ = nullptr;
@@ -168,7 +154,6 @@ class TricycleController : public controller_interface::ControllerInterface
   SteeringLimiter limiter_steering_;
 
   bool is_halted = false;
-  bool use_stamped_vel_ = true;
 
   void reset_odometry(
     const std::shared_ptr<rmw_request_id_t> request_header,

tricycle_controller/package.xml

@@ -10,6 +10,7 @@
   <author email="tony.najjar@logivations.com">Tony Najjar</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>generate_parameter_library</build_depend>
 
   <depend>ackermann_msgs</depend>
   <depend>backward_ros</depend>