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Use new handles API in diff_drive_controller #1565

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Merged
merged 2 commits into from
Mar 16, 2025
Merged

Use new handles API in diff_drive_controller #1565

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9329507
Use new handles API in diff_drive_controller
saikishor Mar 2, 2025
caf7c4c
Merge branch 'master' into use/new_api/diff_drive
christophfroehlich Mar 16, 2025
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26 changes: 21 additions & 5 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,9 +167,19 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
double right_feedback_mean = 0.0;
for (size_t index = 0; index < static_cast<size_t>(wheels_per_side_); ++index)
{
const double left_feedback = registered_left_wheel_handles_[index].feedback.get().get_value();
const double right_feedback =
registered_right_wheel_handles_[index].feedback.get().get_value();
const auto left_feedback_op =
registered_left_wheel_handles_[index].feedback.get().get_optional();
const auto right_feedback_op =
registered_right_wheel_handles_[index].feedback.get().get_optional();

if (!left_feedback_op.has_value() || !right_feedback_op.has_value())
{
RCLCPP_DEBUG(logger, "Unable to retrieve the data from the left or right wheels feedback!");
return controller_interface::return_type::OK;
}

const double left_feedback = left_feedback_op.value();
const double right_feedback = right_feedback_op.value();

if (std::isnan(left_feedback) || std::isnan(right_feedback))
{
Expand Down Expand Up @@ -278,12 +288,18 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
(linear_command + angular_command * wheel_separation / 2.0) / right_wheel_radius;

// Set wheels velocities:
bool set_command_result = true;
for (size_t index = 0; index < static_cast<size_t>(wheels_per_side_); ++index)
{
registered_left_wheel_handles_[index].velocity.get().set_value(velocity_left);
registered_right_wheel_handles_[index].velocity.get().set_value(velocity_right);
set_command_result &=
registered_left_wheel_handles_[index].velocity.get().set_value(velocity_left);
set_command_result &=
registered_right_wheel_handles_[index].velocity.get().set_value(velocity_right);
}

RCLCPP_DEBUG_EXPRESSION(
logger, !set_command_result, "Unable to set the command to one of the command handles!");

return controller_interface::return_type::OK;
}

Expand Down
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