Added Swerve Drive Controller Package

doc/controllers_index.rst

@@ -32,6 +32,7 @@ Controllers for Wheeled Mobile Robots
    Omni Wheel Drive Controller <../omni_wheel_drive_controller/doc/userdoc.rst>
    Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>
    Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
+   Swerve Drive Controller <../swerve_drive_controller/doc/userdoc.rst>
 
 Controllers for Manipulators and Other Robots
 *********************************************

doc/release_notes.rst

@@ -36,6 +36,6 @@ pid_controller
   * A new ``error_deadband`` parameter stops integration when the error is within a specified range.
 * PID state publisher can be turned off or on by using  ``activate_state_publisher`` parameter. (`#1823 <https://github.com/ros-controls/ros2_controllers/pull/1823>`_).
 
-motion_primitives_forward_controller
-*******************************************
-* 🚀 The motion_primitives_forward_controller was added 🎉 (`#1636 <https://github.com/ros-controls/ros2_controllers/pull/1636>`_).
+swerve_drive_controller
+*********************************
+* The swerve_drive_controller was added  (`#1694 <https://github.com/ros-controls/ros2_controllers/pull/1694>`_).

swerve_drive_controller/CMakeLists.txt

@@ -0,0 +1,118 @@
+cmake_minimum_required(VERSION 3.16)
+project(swerve_drive_controller)
+
+find_package(ament_cmake REQUIRED)
+find_package(ros2_control_cmake REQUIRED)
+
+set_compiler_options()
+export_windows_symbols()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  controller_interface
+  generate_parameter_library
+  geometry_msgs
+  hardware_interface
+  nav_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  rcpputils
+  realtime_tools
+  angles
+  tf2
+  tf2_msgs
+  tf2_geometry_msgs
+)
+
+find_package(backward_ros REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+add_compile_definitions(RCPPUTILS_VERSION_MAJOR=${rcpputils_VERSION_MAJOR})
+add_compile_definitions(RCPPUTILS_VERSION_MINOR=${rcpputils_VERSION_MINOR})
+
+generate_parameter_library(swerve_drive_controller_parameters
+  src/swerve_drive_controller_parameter.yaml
+)
+
+add_library(swerve_drive_controller SHARED
+  src/swerve_drive_controller.cpp
+  src/swerve_drive_kinematics.cpp
+)
+
+target_compile_features(swerve_drive_controller PUBLIC cxx_std_17)
+target_include_directories(swerve_drive_controller PUBLIC
+  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/swerve_drive_controller>"
+)
+
+target_link_libraries(swerve_drive_controller PUBLIC
+  swerve_drive_controller_parameters
+  controller_interface::controller_interface
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  rcpputils::rcpputils
+  realtime_tools::realtime_tools
+  tf2::tf2
+  angles::angles
+  tf2_geometry_msgs::tf2_geometry_msgs
+  ${tf2_msgs_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${control_msgs_TARGETS}
+  ${nav_msgs_TARGETS}
+)
+
+pluginlib_export_plugin_description_file(controller_interface swerve_drive_plugin.xml)
+
+if(BUILD_TESTING)
+  find_package(controller_manager REQUIRED)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(test_swerve_drive_controller
+    test/test_swerve_drive_controller.cpp
+  )
+
+  target_link_libraries(test_swerve_drive_controller
+    swerve_drive_controller
+    controller_interface::controller_interface
+    hardware_interface::hardware_interface
+    pluginlib::pluginlib
+    rclcpp::rclcpp
+    rclcpp_lifecycle::rclcpp_lifecycle
+    rcpputils::rcpputils
+    realtime_tools::realtime_tools
+    tf2::tf2
+    ${tf2_msgs_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${control_msgs_TARGETS}
+    ${nav_msgs_TARGETS}
+  )
+
+  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
+
+  ament_add_gmock(test_load_swerve_drive_controller test/test_load_swerve_drive_controller.cpp)
+  target_link_libraries(test_load_swerve_drive_controller
+    controller_manager::controller_manager
+    ros2_control_test_assets::ros2_control_test_assets
+  )
+endif()
+
+install(
+  DIRECTORY include/
+  DESTINATION include/swerve_drive_controller
+)
+
+install(TARGETS swerve_drive_controller swerve_drive_controller_parameters
+  EXPORT export_swerve_drive_controller
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+ament_export_libraries(swerve_drive_controller)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

swerve_drive_controller/LICENSE

@@ -0,0 +1,202 @@
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swerve_drive_controller/doc/userdoc.rst

@@ -0,0 +1,45 @@
+.. _swerve_drive_controller_userdoc:
+
+swerve_drive_controller
+=========================
+
+Library with shared functionalities for mobile robot controllers with swerve drive (four swerve wheels).
+The library implements generic odometry and update methods and defines the main interfaces.
+
+Execution logic of the controller
+----------------------------------
+
+The controller uses velocity input, i.e., stamped or non stamped Twist messages where linear ``x``, ``y``, and angular ``z`` components are used.
+Values in other components are ignored.
+
+Note about odometry calculation:
+In the DiffDRiveController, the velocity is filtered out, but we prefer to return it raw and let the user perform post-processing at will.
+We prefer this way of doing so as filtering introduces delay (which makes it difficult to interpret and compare behavior curves).
+
+
+Description of controller's interfaces
+--------------------------------------
+
+Subscribers
+,,,,,,,,,,,,
+
+~/cmd_vel [geometry_msgs/msg/TwistStamped] (If ``use_stamped_vel=true``)
+  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.
+
+~/cmd_vel [geometry_msgs/msg/Twist] (If ``use_stamped_vel=false``)
+  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.
+
+Publishers
+,,,,,,,,,,,
+~/odom [nav_msgs::msg::Odometry]
+  This represents an estimate of the robot's position and velocity in free space.
+
+/tf [tf2_msgs::msg::TFMessage]
+  tf tree. Published only if ``enable_odom_tf=true``
+
+
+Parameters
+,,,,,,,,,,,
+
+.. literalinclude:: ../test/config/test_swerve_drive_controller.yaml
+   :language: yaml