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vesc/vesc_ackermann/src/ackermann_to_vesc.cpp
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// -*- mode:c++; fill-column: 100; -*- | |
#include "vesc_ackermann/ackermann_to_vesc.h" | |
#include <cmath> | |
#include <sstream> | |
#include <std_msgs/Float64.h> | |
namespace vesc_ackermann | |
{ | |
template <typename T> | |
inline bool getRequiredParam(const ros::NodeHandle& nh, std::string name, T& value); | |
AckermannToVesc::AckermannToVesc(ros::NodeHandle nh, ros::NodeHandle private_nh) | |
{ | |
// get conversion parameters | |
if (!getRequiredParam(nh, "speed_to_erpm_gain", speed_to_erpm_gain_)) | |
return; | |
if (!getRequiredParam(nh, "speed_to_erpm_offset", speed_to_erpm_offset_)) | |
return; | |
if (!getRequiredParam(nh, "steering_angle_to_servo_gain", steering_to_servo_gain_)) | |
return; | |
if (!getRequiredParam(nh, "steering_angle_to_servo_offset", steering_to_servo_offset_)) | |
return; | |
// create publishers to vesc electric-RPM (speed) and servo commands | |
erpm_pub_ = nh.advertise<std_msgs::Float64>("commands/motor/speed", 10); | |
servo_pub_ = nh.advertise<std_msgs::Float64>("commands/servo/position", 10); | |
// subscribe to ackermann topic | |
ackermann_sub_ = nh.subscribe("ackermann_cmd", 10, &AckermannToVesc::ackermannCmdCallback, this); | |
} | |
typedef ackermann_msgs::AckermannDriveStamped::ConstPtr AckermannMsgPtr; | |
void AckermannToVesc::ackermannCmdCallback(const AckermannMsgPtr& cmd) | |
{ | |
// calc vesc electric RPM (speed) | |
std_msgs::Float64::Ptr erpm_msg(new std_msgs::Float64); | |
erpm_msg->data = speed_to_erpm_gain_ * cmd->drive.speed + speed_to_erpm_offset_; | |
// calc steering angle (servo) | |
std_msgs::Float64::Ptr servo_msg(new std_msgs::Float64); | |
servo_msg->data = steering_to_servo_gain_ * cmd->drive.steering_angle + steering_to_servo_offset_; | |
// publish | |
if (ros::ok()) { | |
erpm_pub_.publish(erpm_msg); | |
servo_pub_.publish(servo_msg); | |
} | |
} | |
template <typename T> | |
inline bool getRequiredParam(const ros::NodeHandle& nh, std::string name, T& value) | |
{ | |
if (nh.getParam(name, value)) | |
return true; | |
ROS_FATAL("AckermannToVesc: Parameter %s is required.", name.c_str()); | |
return false; | |
} | |
} // namespace vesc_ackermann |