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fix(timeout): do not reset steer wheels to 0. on timeout #1289

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fix(timeout): do not reset steer wheels to 0. on timeout #1289

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d706812
fix(timeout): do not reset steer wheel to 0. on timeout
reinzor Sep 13, 2024
86015b2
fix unit tests
reinzor Sep 26, 2024
ca0cefc
release notes
reinzor Sep 26, 2024
0ed5880
Update steering_controllers_library/test/test_steering_controllers_li…
reinzor Sep 27, 2024
c8794cf
Update steering_controllers_library/test/test_steering_controllers_li…
reinzor Sep 27, 2024
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1 change: 1 addition & 0 deletions doc/release_notes.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@ steering_controllers_library
********************************
* Changing default int values to double in steering controller's yaml file. The controllers should now initialize successfully without specifying these parameters (`#927 <https://github.com/ros-controls/ros2_controllers/pull/927>`_).
* A fix for Ackermann steering odometry was added (`#921 <https://github.com/ros-controls/ros2_controllers/pull/921>`_).
* Do not reset the steering wheels to ``0.0`` on timeout (`#1289 <https://github.com/ros-controls/ros2_controllers/pull/1289>`_).

tricycle_controller
************************
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29 changes: 9 additions & 20 deletions steering_controllers_library/src/steering_controllers_library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -355,26 +355,11 @@ controller_interface::return_type SteeringControllersLibrary::update_reference_f
const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
{
auto current_ref = *(input_ref_.readFromRT());
const auto age_of_last_command = time - (current_ref)->header.stamp;

// send message only if there is no timeout
if (age_of_last_command <= ref_timeout_ || ref_timeout_ == rclcpp::Duration::from_seconds(0))
if (!std::isnan(current_ref->twist.linear.x) && !std::isnan(current_ref->twist.angular.z))
{
if (!std::isnan(current_ref->twist.linear.x) && !std::isnan(current_ref->twist.angular.z))
{
reference_interfaces_[0] = current_ref->twist.linear.x;
reference_interfaces_[1] = current_ref->twist.angular.z;
}
}
else
{
if (!std::isnan(current_ref->twist.linear.x) && !std::isnan(current_ref->twist.angular.z))
{
reference_interfaces_[0] = 0.0;
reference_interfaces_[1] = 0.0;
current_ref->twist.linear.x = std::numeric_limits<double>::quiet_NaN();
current_ref->twist.angular.z = std::numeric_limits<double>::quiet_NaN();
}
reference_interfaces_[0] = current_ref->twist.linear.x;
reference_interfaces_[1] = current_ref->twist.angular.z;
}

return controller_interface::return_type::OK;
Expand All @@ -396,13 +381,17 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
last_linear_velocity_ = reference_interfaces_[0];
last_angular_velocity_ = reference_interfaces_[1];

const auto age_of_last_command = time - (*(input_ref_.readFromRT()))->header.stamp;
const auto timeout =
age_of_last_command > ref_timeout_ && ref_timeout_ != rclcpp::Duration::from_seconds(0);

auto [traction_commands, steering_commands] =
odometry_.get_commands(last_linear_velocity_, last_angular_velocity_, params_.open_loop);
if (params_.front_steering)
{
for (size_t i = 0; i < params_.rear_wheels_names.size(); i++)
{
command_interfaces_[i].set_value(traction_commands[i]);
command_interfaces_[i].set_value(timeout ? 0. : traction_commands[i]);
}
for (size_t i = 0; i < params_.front_wheels_names.size(); i++)
{
Expand All @@ -414,7 +403,7 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
{
for (size_t i = 0; i < params_.front_wheels_names.size(); i++)
{
command_interfaces_[i].set_value(traction_commands[i]);
command_interfaces_[i].set_value(timeout ? 0. : traction_commands[i]);
}
for (size_t i = 0; i < params_.rear_wheels_names.size(); i++)
{
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30 changes: 18 additions & 12 deletions steering_controllers_library/test/test_steering_controllers_library.cpp
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Expand Up @@ -133,19 +133,22 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout)
{
EXPECT_TRUE(std::isnan(interface));
}
EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->twist.linear.x));
EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->twist.angular.z));
ASSERT_EQ((*(controller_->input_ref_.readFromNonRT()))->twist.linear.x, TEST_LINEAR_VELOCITY_X);
ASSERT_EQ((*(controller_->input_ref_.readFromNonRT()))->twist.angular.z, TEST_ANGULAR_VELOCITY_Z);

EXPECT_TRUE(std::isnan(controller_->reference_interfaces_[0]));
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
}

for (size_t i = 0; i < controller_->command_interfaces_.size(); ++i)
{
EXPECT_EQ(controller_->command_interfaces_[i].get_value(), 0);
}
// Wheel velocities should reset to 0
EXPECT_EQ(controller_->command_interfaces_[0].get_value(), 0);
EXPECT_EQ(controller_->command_interfaces_[1].get_value(), 0);

// Steer angles should not reset
EXPECT_NEAR(controller_->command_interfaces_[2].get_value(), 0.575875, 1e-6);
EXPECT_NEAR(controller_->command_interfaces_[3].get_value(), 0.575875, 1e-6);

// case 2 position_feedback = true
controller_->params_.position_feedback = true;
Expand Down Expand Up @@ -174,19 +177,22 @@ TEST_F(SteeringControllersLibraryTest, test_both_update_methods_for_ref_timeout)
{
EXPECT_TRUE(std::isnan(interface));
}
EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->twist.linear.x));
EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->twist.angular.z));
ASSERT_EQ((*(controller_->input_ref_.readFromNonRT()))->twist.linear.x, TEST_LINEAR_VELOCITY_X);
ASSERT_EQ((*(controller_->input_ref_.readFromNonRT()))->twist.angular.z, TEST_ANGULAR_VELOCITY_Z);

EXPECT_TRUE(std::isnan(controller_->reference_interfaces_[0]));
for (const auto & interface : controller_->reference_interfaces_)
{
EXPECT_TRUE(std::isnan(interface));
}

for (size_t i = 0; i < controller_->command_interfaces_.size(); ++i)
{
EXPECT_EQ(controller_->command_interfaces_[i].get_value(), 0);
}
// Wheel velocities should reset to 0
EXPECT_EQ(controller_->command_interfaces_[0].get_value(), 0);
EXPECT_EQ(controller_->command_interfaces_[1].get_value(), 0);

// Steer angles should not reset
EXPECT_NEAR(controller_->command_interfaces_[2].get_value(), 0.575875, 1e-6);
EXPECT_NEAR(controller_->command_interfaces_[3].get_value(), 0.575875, 1e-6);
}

int main(int argc, char ** argv)
Expand Down
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