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Add support for TwistStamped messages #27

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Nov 19, 2024
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Add support for TwistStamped messages #27

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33 changes: 31 additions & 2 deletions src/marker_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@

#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <visualization_msgs/msg/interactive_marker.hpp>
#include <visualization_msgs/msg/interactive_marker_control.hpp>
Expand Down Expand Up @@ -60,14 +61,18 @@ class TwistServerNode : public rclcpp::Node
private:
void getParameters();
void createInteractiveMarkers();
void stampAndPublish(geometry_msgs::msg::Twist &msg);

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub;
rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr vel_stamped_pub;
std::unique_ptr<interactive_markers::InteractiveMarkerServer> server;

std::map<std::string, double> linear_drive_scale_map;
std::map<std::string, double> max_positive_linear_velocity_map;
std::map<std::string, double> max_negative_linear_velocity_map;

bool use_stamped_msgs;

double angular_drive_scale;
double max_angular_velocity;
double marker_size_scale;
Expand All @@ -85,7 +90,11 @@ TwistServerNode::TwistServerNode()
get_node_topics_interface(), get_node_services_interface()))
{
getParameters();
vel_pub = create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
if (use_stamped_msgs) {
vel_stamped_pub = create_publisher<geometry_msgs::msg::TwistStamped>("cmd_vel", 1);
} else {
vel_pub = create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
}
createInteractiveMarkers();
RCLCPP_INFO(get_logger(), "[interactive_marker_twist_server] Initialized.");
}
Expand All @@ -94,6 +103,7 @@ void TwistServerNode::getParameters()
{
rclcpp::Parameter link_name_param;
rclcpp::Parameter robot_name_param;
rclcpp::Parameter use_stamped_msgs_param;

if (this->get_parameter("link_name", link_name_param)) {
link_name = link_name_param.as_string();
Expand All @@ -107,6 +117,12 @@ void TwistServerNode::getParameters()
robot_name = "robot";
}

if (this->get_parameter("use_stamped_msgs", use_stamped_msgs_param)) {
use_stamped_msgs = use_stamped_msgs_param.as_bool();
} else {
use_stamped_msgs = false;
}

// Ensure parameters are loaded correctly, otherwise, manually set values for linear config
if (this->get_parameters("linear_scale", linear_drive_scale_map)) {
this->get_parameters("max_positive_linear_velocity", max_positive_linear_velocity_map);
Expand Down Expand Up @@ -210,13 +226,26 @@ void TwistServerNode::processFeedback(
vel_msg.linear.z = std::max(vel_msg.linear.z, max_negative_linear_velocity_map["z"]);
}

vel_pub->publish(vel_msg);
if (use_stamped_msgs) {
stampAndPublish(vel_msg);
} else {
vel_pub->publish(vel_msg);
}

// Make the marker snap back to robot
server->setPose(robot_name + "_twist_marker", geometry_msgs::msg::Pose());
server->applyChanges();
}

void TwistServerNode::stampAndPublish(geometry_msgs::msg::Twist &msg) {
geometry_msgs::msg::TwistStamped stamped_msg;

stamped_msg.twist = msg;
stamped_msg.header.stamp = this->get_clock()->now();

vel_stamped_pub->publish(stamped_msg);
}

} // namespace interactive_marker_twist_server

int main(int argc, char ** argv)
Expand Down
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