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mergify[bot]RobertWilbrandtchristophfroehlich
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Implement new PoseBroadcaster controller (backport #1311) (#1327)
* Implement new PoseBroadcaster controller (#1311) (cherry picked from commit 7c89c17) * Fix API in tests * Add hardware_interface_testing dependency --------- Co-authored-by: RobertWilbrandt <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]>
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‎doc/controllers_index.rst‎

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IMU Sensor Broadcaster <../imu_sensor_broadcaster/doc/userdoc.rst>
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Joint State Broadcaster <../joint_state_broadcaster/doc/userdoc.rst>
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Range Sensor Broadcaster <../range_sensor_broadcaster/doc/userdoc.rst>
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Pose Broadcaster <../pose_broadcaster/doc/userdoc.rst>
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Common Controller Parameters

‎pose_broadcaster/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.16)
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project(pose_broadcaster
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LANGUAGES
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CXX
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)
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if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
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add_compile_options(-Wall -Wextra -Wpedantic -Werror=conversion -Werror=unused-but-set-variable
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-Werror=return-type -Werror=shadow -Werror=format)
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endif()
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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controller_interface
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generate_parameter_library
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geometry_msgs
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hardware_interface
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pluginlib
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rclcpp
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rclcpp_lifecycle
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realtime_tools
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tf2_msgs
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)
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find_package(ament_cmake REQUIRED)
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find_package(backward_ros REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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generate_parameter_library(pose_broadcaster_parameters
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src/pose_broadcaster_parameters.yaml
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)
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add_library(pose_broadcaster SHARED
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src/pose_broadcaster.cpp
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)
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target_compile_features(pose_broadcaster PUBLIC
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cxx_std_17
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)
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target_include_directories(pose_broadcaster PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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target_link_libraries(pose_broadcaster PUBLIC
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pose_broadcaster_parameters
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)
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ament_target_dependencies(pose_broadcaster PUBLIC
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${THIS_PACKAGE_INCLUDE_DEPENDS}
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(pose_broadcaster PRIVATE "POSE_BROADCASTER_BUILDING_DLL")
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pluginlib_export_plugin_description_file(
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controller_interface pose_broadcaster.xml
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_gmock REQUIRED)
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find_package(controller_manager REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(ros2_control_test_assets REQUIRED)
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add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
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ament_add_gmock(test_load_pose_broadcaster
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test/test_load_pose_broadcaster.cpp
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)
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target_link_libraries(test_load_pose_broadcaster
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pose_broadcaster
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)
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ament_target_dependencies(test_load_pose_broadcaster
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controller_manager
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ros2_control_test_assets
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)
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add_rostest_with_parameters_gmock(test_pose_broadcaster
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test/test_pose_broadcaster.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/test/pose_broadcaster_params.yaml
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)
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target_link_libraries(test_pose_broadcaster
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pose_broadcaster
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)
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ament_target_dependencies(test_pose_broadcaster
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hardware_interface
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)
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endif()
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install(
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DIRECTORY
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include/
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DESTINATION include/${PROJECT_NAME}
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)
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install(
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TARGETS
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pose_broadcaster
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pose_broadcaster_parameters
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EXPORT export_${PROJECT_NAME}
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RUNTIME DESTINATION bin
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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)
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()

‎pose_broadcaster/README.md‎

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pose_broadcaster
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==========================================
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Controller to publish poses provided by pose sensors.
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Pluginlib-Library: pose_broadcaster
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Plugin: pose_broadcaster/PoseBroadcaster (controller_interface::ControllerInterface)

‎pose_broadcaster/doc/userdoc.rst‎

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:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pose_broadcaster/doc/userdoc.rst
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.. _pose_broadcaster_userdoc:
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Pose Broadcaster
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--------------------------------
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Broadcaster for poses measured by a robot or a sensor.
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Poses are published as ``geometry_msgs/msg/PoseStamped`` messages and optionally as tf transforms.
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The controller is a wrapper around the ``PoseSensor`` semantic component (see ``controller_interface`` package).
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Parameters
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^^^^^^^^^^^
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This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pose_broadcaster/src/pose_broadcaster_parameters.yaml>`_ contains descriptions for all the parameters used by the controller.
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List of parameters
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=========================
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.. generate_parameter_library_details:: ../src/pose_broadcaster_parameters.yaml
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An example parameter file
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=========================
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An example parameter file for this controller can be found in `the test directory <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pose_broadcaster/test/pose_broadcaster_params.yaml>`_:
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.. literalinclude:: ../test/pose_broadcaster_params.yaml
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:language: yaml

‎pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp‎

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// Copyright 2024 FZI Forschungszentrum Informatik
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef POSE_BROADCASTER__POSE_BROADCASTER_HPP_
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#define POSE_BROADCASTER__POSE_BROADCASTER_HPP_
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#include <array>
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#include <memory>
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#include <optional>
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#include <string>
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#include "controller_interface/controller_interface.hpp"
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#include "geometry_msgs/msg/pose_stamped.hpp"
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#include "pose_broadcaster/visibility_control.h"
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#include "pose_broadcaster_parameters.hpp"
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#include "rclcpp/publisher.hpp"
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#include "rclcpp_lifecycle/state.hpp"
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#include "realtime_tools/realtime_publisher.h"
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#include "semantic_components/pose_sensor.hpp"
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#include "tf2_msgs/msg/tf_message.hpp"
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namespace pose_broadcaster
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{
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class PoseBroadcaster : public controller_interface::ControllerInterface
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{
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public:
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POSE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration
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command_interface_configuration() const override;
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POSE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration
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state_interface_configuration() const override;
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POSE_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_init() override;
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POSE_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_configure(
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const rclcpp_lifecycle::State & previous_state) override;
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POSE_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_activate(
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const rclcpp_lifecycle::State & previous_state) override;
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POSE_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_deactivate(
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const rclcpp_lifecycle::State & previous_state) override;
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POSE_BROADCASTER_PUBLIC controller_interface::return_type update(
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const rclcpp::Time & time, const rclcpp::Duration & period) override;
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private:
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std::shared_ptr<ParamListener> param_listener_;
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Params params_;
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std::unique_ptr<semantic_components::PoseSensor> pose_sensor_;
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rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pose_publisher_;
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std::unique_ptr<realtime_tools::RealtimePublisher<geometry_msgs::msg::PoseStamped>>
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realtime_publisher_;
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std::optional<rclcpp::Duration> tf_publish_period_;
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rclcpp::Time tf_last_publish_time_{0, 0, RCL_CLOCK_UNINITIALIZED};
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rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr tf_publisher_;
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std::unique_ptr<realtime_tools::RealtimePublisher<tf2_msgs::msg::TFMessage>>
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realtime_tf_publisher_;
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};
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} // namespace pose_broadcaster
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#endif // POSE_BROADCASTER__POSE_BROADCASTER_HPP_

‎pose_broadcaster/include/pose_broadcaster/visibility_control.h‎

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// Copyright 2024 FZI Forschungszentrum Informatik
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef POSE_BROADCASTER__VISIBILITY_CONTROL_H_
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#define POSE_BROADCASTER__VISIBILITY_CONTROL_H_
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// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
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// https://gcc.gnu.org/wiki/Visibility
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#if defined _WIN32 || defined __CYGWIN__
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#ifdef __GNUC__
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#define POSE_BROADCASTER_EXPORT __attribute__((dllexport))
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#define POSE_BROADCASTER_IMPORT __attribute__((dllimport))
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#else
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#define POSE_BROADCASTER_EXPORT __declspec(dllexport)
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#define POSE_BROADCASTER_IMPORT __declspec(dllimport)
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#endif
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#ifdef POSE_BROADCASTER_BUILDING_DLL
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#define POSE_BROADCASTER_PUBLIC POSE_BROADCASTER_EXPORT
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#else
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#define POSE_BROADCASTER_PUBLIC POSE_BROADCASTER_IMPORT
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#endif
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#define POSE_BROADCASTER_PUBLIC_TYPE POSE_BROADCASTER_PUBLIC
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#define POSE_BROADCASTER_LOCAL
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#else
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#define POSE_BROADCASTER_EXPORT __attribute__((visibility("default")))
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#define POSE_BROADCASTER_IMPORT
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#if __GNUC__ >= 4
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#define POSE_BROADCASTER_PUBLIC __attribute__((visibility("default")))
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#define POSE_BROADCASTER_LOCAL __attribute__((visibility("hidden")))
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#else
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#define POSE_BROADCASTER_PUBLIC
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#define POSE_BROADCASTER_LOCAL
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#endif
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#define POSE_BROADCASTER_PUBLIC_TYPE
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#endif
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#endif // POSE_BROADCASTER__VISIBILITY_CONTROL_H_

‎pose_broadcaster/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>pose_broadcaster</name>
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<version>0.0.0</version>
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<description>Broadcaster to publish cartesian states.</description>
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<maintainer email="[email protected]">Robert Wilbrandt</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>backward_ros</depend>
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<depend>controller_interface</depend>
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<depend>generate_parameter_library</depend>
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<depend>geometry_msgs</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_lifecycle</depend>
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<depend>realtime_tools</depend>
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<depend>tf2_msgs</depend>
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<test_depend>ament_cmake_gmock</test_depend>
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<test_depend>controller_manager</test_depend>
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<test_depend>hardware_interface_testing</test_depend>
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<test_depend>ros2_control_test_assets</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎pose_broadcaster/pose_broadcaster.xml‎

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<library path="pose_broadcaster">
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<class name="pose_broadcaster/PoseBroadcaster"
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type="pose_broadcaster::PoseBroadcaster"
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base_class_type="controller_interface::ControllerInterface">
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<description>
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This controller publishes a Cartesian state as a geometry_msgs/PoseStamped message and optionally as a tf transform.
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</description>
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</class>
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</library>

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