Class WalkNode

Defined in File walk_node.hpp

Class Documentation

class bitbots_quintic_walk::WalkNode

Public Functions

explicit WalkNode(rclcpp::Node::SharedPtr node, const std::string &ns = "", const std::vector<rclcpp::Parameter> &moveit_parameters = {})

bitbots_msgs::msg::JointCommand step(double dt)

bitbots_msgs::msg::JointCommand step(double dt, geometry_msgs::msg::Twist::SharedPtr cmdvel_msg, sensor_msgs::msg::Imu::SharedPtr imu_msg, sensor_msgs::msg::JointState::SharedPtr jointstate_msg, bitbots_msgs::msg::FootPressure::SharedPtr pressure_left, bitbots_msgs::msg::FootPressure::SharedPtr pressure_right)

bitbots_msgs::msg::JointCommand step_relative(double dt, geometry_msgs::msg::Twist::SharedPtr step_msg, sensor_msgs::msg::Imu::SharedPtr imu_msg, sensor_msgs::msg::JointState::SharedPtr jointstate_msg, bitbots_msgs::msg::FootPressure::SharedPtr pressure_left, bitbots_msgs::msg::FootPressure::SharedPtr pressure_right)

geometry_msgs::msg::PoseArray step_open_loop(double dt, geometry_msgs::msg::Twist::SharedPtr cmdvel_msg)

geometry_msgs::msg::Pose get_right_foot_pose(): Small helper method to get foot position via python wrapper

geometry_msgs::msg::Pose get_left_foot_pose()

void reset(): Reset everything to initial idle state.

void updateParams(): Updates the parameters of the walking after a parameter change.

void reset(WalkState state, double phase, geometry_msgs::msg::Twist::SharedPtr cmd_vel, bool reset_odometry): Reset walk to any given state. Necessary for using this as reference in learning.

void run(): This is the main loop which takes care of stopping and starting of the walking. A small state machine is tracking in which state the walking is and builds the trajectories accordingly.

void initializeEngine(): Initialize internal WalkEngine to correctly zeroed, usable state

void robotStateCb(bitbots_msgs::msg::RobotControlState::SharedPtr msg)

Sets the current state of the robot

Parameters: msg – The current state

WalkEngine *getEngine()

WalkIK *getIk()

moveit::core::RobotModelPtr *get_kinematic_model()

nav_msgs::msg::Odometry getOdometry()

void publish_debug()

rclcpp::TimerBase::SharedPtr startTimer()

double getTimerFreq()

Private Functions

std::array<double, 4> get_step_from_vel(geometry_msgs::msg::Twist::SharedPtr msg)

void stepCb(geometry_msgs::msg::Twist::SharedPtr msg)

void cmdVelCb(geometry_msgs::msg::Twist::SharedPtr msg)

void imuCb(sensor_msgs::msg::Imu::SharedPtr msg)

void checkPhaseRestAndReset()

void pressureRightCb(bitbots_msgs::msg::FootPressure::SharedPtr msg)

void pressureLeftCb(bitbots_msgs::msg::FootPressure::SharedPtr msg)

void jointStateCb(sensor_msgs::msg::JointState::SharedPtr msg)

void kickCb(std_msgs::msg::Bool::SharedPtr msg)

double getTimeDelta()

Private Members

rclcpp::Node::SharedPtr node_

walking::ParamListener param_listener_

walking::Params config_

WalkRequest current_request_ = {.stop_walk = true}

WalkRequest last_request_

bool first_run_ = true

double last_ros_update_time_ = 0

int robot_state_ = bitbots_msgs::msg::RobotControlState::CONTROLLABLE

int current_support_foot_ = biped_interfaces::msg::Phase::DOUBLE_STANCE

WalkResponse current_response_

WalkResponse current_stabilized_response_

bitbots_splines::JointGoals motor_goals_

bitbots_quintic_walk::WalkEngine walk_engine_

nav_msgs::msg::Odometry odom_msg_

rclcpp::Publisher<bitbots_msgs::msg::JointCommand>::SharedPtr pub_controller_command_

rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_odometry_

rclcpp::Publisher<biped_interfaces::msg::Phase>::SharedPtr pub_support_

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr step_sub_

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_

rclcpp::Subscription<bitbots_msgs::msg::RobotControlState>::SharedPtr robot_state_sub_

rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_

rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr kick_sub_

rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_sub_

rclcpp::Subscription<bitbots_msgs::msg::FootPressure>::SharedPtr pressure_sub_left_

rclcpp::Subscription<bitbots_msgs::msg::FootPressure>::SharedPtr pressure_sub_right_

std::shared_ptr<robot_model_loader::RobotModelLoader> robot_model_loader_

moveit::core::RobotModelPtr kinematic_model_

moveit::core::RobotStatePtr current_state_

WalkStabilizer stabilizer_

WalkIK ik_

WalkVisualizer visualizer_

double current_trunk_fused_pitch_ = 0

double current_trunk_fused_roll_ = 0

double current_fly_pressure_ = 0

double current_fly_effort_ = 0

std::optional<rclcpp::Time> last_imu_measurement_time_

double imu_y_acc = 0

bool got_new_goals_ = false