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Add swerve_drive_controller package with tests and documentation
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‎swerve_drive_controller/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(swerve_drive_controller)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(tf2_msgs REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(controller_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(realtime_tools REQUIRED)
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pluginlib_export_plugin_description_file(controller_interface swerve_drive_plugin.xml)
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add_library(swerve_drive_controller SHARED
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src/swerve_drive_controller.cpp
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src/swerve_drive_kinematics.cpp
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)
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target_include_directories(swerve_drive_controller PRIVATE include)
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ament_target_dependencies(swerve_drive_controller
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builtin_interfaces
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controller_interface
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geometry_msgs
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hardware_interface
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nav_msgs
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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
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tf2_msgs
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)
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install(DIRECTORY include/
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DESTINATION include
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)
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install(TARGETS swerve_drive_controller
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EXPORT export_swerve_drive_controller
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(
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FILES swerve_drive_plugin.xml
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(controller_manager REQUIRED)
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find_package(ament_lint_auto REQUIRED)
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find_package(ament_cmake_gmock REQUIRED)
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find_package(ament_cmake_gtest REQUIRED)
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find_package(ament_cmake_uncrustify REQUIRED)
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find_package(ros2_control_test_assets REQUIRED)
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ament_add_gtest(test_swerve_drive_controller
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test/test_swerve_drive_controller.cpp
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)
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target_include_directories(test_swerve_drive_controller PRIVATE include)
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ament_target_dependencies(test_swerve_drive_controller
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controller_interface
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hardware_interface
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rclcpp
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geometry_msgs
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nav_msgs
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)
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target_link_libraries(test_swerve_drive_controller
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${PROJECT_NAME}
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)
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add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
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ament_add_gmock(test_load_swerve_drive_controller test/test_load_swerve_drive_controller.cpp)
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ament_target_dependencies(test_load_swerve_drive_controller
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controller_manager
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ros2_control_test_assets
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)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_export_libraries(swerve_drive_controller)
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ament_export_dependencies(controller_interface hardware_interface pluginlib rclcpp rclcpp_lifecycle)
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ament_package()

‎swerve_drive_controller/LICENSE

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‎swerve_drive_controller/doc/userdoc.rst

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.. _swerve_drive_controller_userdoc:
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swerve_drive_controller
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=========================
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Library with shared functionalities for mobile robot controllers with swerve drive (four swerve wheels).
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The library implements generic odometry and update methods and defines the main interfaces.
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Execution logic of the controller
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----------------------------------
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The controller uses velocity input, i.e., stamped or non stamped Twist messages where linear ``x``, ``y``, and angular ``z`` components are used.
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Values in other components are ignored.
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Note about odometry calculation:
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In the DiffDRiveController, the velocity is filtered out, but we prefer to return it raw and let the user perform post-processing at will.
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We prefer this way of doing so as filtering introduces delay (which makes it difficult to interpret and compare behavior curves).
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Description of controller's interfaces
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--------------------------------------
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Subscribers
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,,,,,,,,,,,,
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If ``use_stamped_vel=true``:
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~/cmd_vel [geometry_msgs/msg/TwistStamped]
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Velocity command for the controller. The controller extracts the x and y component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
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If ``use_stamped_vel=false``:
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~/cmd_vel [geometry_msgs/msg/Twist]
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Velocity command for the controller. The controller extracts the x and y component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
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Publishers
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,,,,,,,,,,,
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~/odom [nav_msgs::msg::Odometry]
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This represents an estimate of the robot's position and velocity in free space.
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/tf [tf2_msgs::msg::TFMessage]
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tf tree. Published only if ``enable_odom_tf=true``
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Parameters
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,,,,,,,,,,,
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.. literalinclude:: ../test/config/test_swerve_drive_controller.yaml
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:language: yaml

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