[Steering controllers library] Reference interfaces are body twist (backport #1168)

ackermann_steering_controller/test/test_ackermann_steering_controller.cpp

@@ -84,7 +84,7 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  // check ref itfsTIME
+  // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -301,7 +301,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 4> joint_state_values_ = {0.5, 0.5, 0.0, 0.0};
   std::array<double, 4> joint_command_values_ = {1.1, 3.3, 2.2, 4.4};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";

bicycle_steering_controller/test/test_bicycle_steering_controller.cpp

@@ -68,7 +68,7 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  // check ref itfsTIME
+  // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)

bicycle_steering_controller/test/test_bicycle_steering_controller.hpp

@@ -265,7 +265,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 2> joint_state_values_ = {3.3, 0.5};
   std::array<double, 2> joint_command_values_ = {1.1, 2.2};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
 
   // defined in setup

steering_controllers_library/doc/userdoc.rst

@@ -56,7 +56,9 @@ References (from a preceding controller)
 Used when controller is in chained mode (``in_chained_mode == true``).
 
 - ``<controller_name>/linear/velocity``      double, in m/s
-- ``<controller_name>/angular/position``     double, in rad
+- ``<controller_name>/angular/velocity``     double, in rad/s
+
+representing the body twist.
 
 Command interfaces
 ,,,,,,,,,,,,,,,,,,,

steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp

@@ -132,7 +132,7 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
   // name constants for reference interfaces
   size_t nr_ref_itfs_;
 
-  // store last velocity
+  // last velocity commands for open loop odometry
   double last_linear_velocity_ = 0.0;
   double last_angular_velocity_ = 0.0;
 

steering_controllers_library/src/steering_controllers_library.cpp

@@ -373,7 +373,7 @@ SteeringControllersLibrary::on_export_reference_interfaces()
     &reference_interfaces_[0]));
 
   reference_interfaces.push_back(hardware_interface::CommandInterface(
-    get_node()->get_name(), std::string("angular/") + hardware_interface::HW_IF_POSITION,
+    get_node()->get_name(), std::string("angular/") + hardware_interface::HW_IF_VELOCITY,
     &reference_interfaces_[1]));
 
   return reference_interfaces;
@@ -445,7 +445,7 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
 
   if (!std::isnan(reference_interfaces_[0]) && !std::isnan(reference_interfaces_[1]))
   {
-    // store and set commands
+    // store (for open loop odometry) and set commands
     last_linear_velocity_ = reference_interfaces_[0];
     last_angular_velocity_ = reference_interfaces_[1];
 

steering_controllers_library/test/test_steering_controllers_library.cpp

@@ -66,7 +66,7 @@ TEST_F(SteeringControllersLibraryTest, check_exported_interfaces)
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  // check ref itfsTIME
+  // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)

steering_controllers_library/test/test_steering_controllers_library.hpp

@@ -323,7 +323,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test
   std::array<double, 4> joint_state_values_ = {0.5, 0.5, 0.0, 0.0};
   std::array<double, 4> joint_command_values_ = {1.1, 3.3, 2.2, 4.4};
 
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";

tricycle_steering_controller/test/test_tricycle_steering_controller.hpp

@@ -284,7 +284,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 3> joint_state_values_ = {0.5, 0.5, 0.0};
   std::array<double, 3> joint_command_values_ = {1.1, 3.3, 2.2};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";