Remove front_steering from steering library

ackermann_steering_controller/src/ackermann_steering_controller.cpp

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <limits>
+
 #include "ackermann_steering_controller/ackermann_steering_controller.hpp"
 
 namespace ackermann_steering_controller
@@ -31,21 +33,69 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom
 {
   ackermann_params_ = ackermann_param_listener_->get_params();
 
-  const double front_wheels_radius = ackermann_params_.front_wheels_radius;
-  const double rear_wheels_radius = ackermann_params_.rear_wheels_radius;
-  const double front_wheel_track = ackermann_params_.front_wheel_track;
-  const double rear_wheel_track = ackermann_params_.rear_wheel_track;
-  const double wheelbase = ackermann_params_.wheelbase;
+  // TODO(anyone): Remove deprecated parameters
+  // START OF DEPRECATED
+  if (ackermann_params_.front_wheels_radius > 0.0)
+  {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "DEPRECATED parameter 'front_wheel_radius', set 'traction_wheels_radius' instead");
+    ackermann_params_.traction_wheels_radius = ackermann_params_.front_wheels_radius;
+  }
 
-  if (params_.front_steering)
+  if (ackermann_params_.rear_wheels_radius > 0.0)
   {
-    odometry_.set_wheel_params(rear_wheels_radius, wheelbase, rear_wheel_track);
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "DEPRECATED parameter 'rear_wheel_radius', set 'traction_wheels_radius' instead");
+    ackermann_params_.traction_wheels_radius = ackermann_params_.rear_wheels_radius;
   }
-  else
+
+  if (ackermann_params_.front_wheel_track > 0.0)
+  {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "DEPRECATED parameter 'front_wheel_track', set 'traction_wheel_track' or "
+      "'steering_wheel_track' instead");
+    if (params_.front_steering)
+    {
+      ackermann_params_.steering_wheel_track = ackermann_params_.front_wheel_track;
+    }
+    else
+    {
+      ackermann_params_.traction_wheel_track = ackermann_params_.front_wheel_track;
+    }
+  }
+
+  if (ackermann_params_.rear_wheel_track > 0.0)
   {
-    odometry_.set_wheel_params(front_wheels_radius, wheelbase, front_wheel_track);
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "DEPRECATED parameter 'rear_wheel_track', set 'traction_wheel_track' or "
+      "'steering_wheel_track' instead");
+    if (params_.front_steering)
+    {
+      ackermann_params_.traction_wheel_track = ackermann_params_.rear_wheel_track;
+    }
+    else
+    {
+      ackermann_params_.steering_wheel_track = ackermann_params_.rear_wheel_track;
+    }
   }
+  // END OF DEPRECATED
+
+  if (ackermann_params_.steering_wheel_track <= std::numeric_limits<double>::epsilon())
+  {
+    ackermann_params_.steering_wheel_track = ackermann_params_.traction_wheel_track;
+  }
+
+  const double traction_wheels_radius = ackermann_params_.traction_wheels_radius;
+  const double traction_wheel_track = ackermann_params_.traction_wheel_track;
+  const double steering_wheel_track = ackermann_params_.steering_wheel_track;
+  const double wheelbase = ackermann_params_.wheelbase;
 
+  odometry_.set_wheel_params(
+    traction_wheels_radius, wheelbase, steering_wheel_track, traction_wheel_track);
   odometry_.set_odometry_type(steering_odometry::ACKERMANN_CONFIG);
 
   set_interface_numbers(NR_STATE_ITFS, NR_CMD_ITFS, NR_REF_ITFS);

ackermann_steering_controller/src/ackermann_steering_controller.yaml

@@ -1,24 +1,39 @@
 ackermann_steering_controller:
+
   front_wheel_track:
     {
       type: double,
       default_value: 0.0,
-      description: "Front wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
+      description: "DEPRECATED: use 'traction_wheel_track' or 'steering_wheel_track'",
+      read_only: false,
+    }
+
+  steering_wheel_track:
+    {
+      type: double,
+      default_value: 0.0,
+      description: "(Optional) Steering wheel track length. If not set, 'traction_wheel_track' will be used.",
       read_only: false,
-      validation: {
-        gt<>: [0.0]
-      }
     }
 
   rear_wheel_track:
     {
       type: double,
       default_value: 0.0,
-      description: "Rear wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
+      description: "DEPRECATED: use 'traction_wheel_track' or 'steering_wheel_track'",
       read_only: false,
-      validation: {
-        gt<>: [0.0]
-      }
+    }
+
+  traction_wheel_track:
+    {
+      type: double,
+      default_value: 0.0,
+      description: "Traction wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
+      read_only: false,
+      # TODO(anyone): activate validation if front/rear wheel track is removed
+      # validation: {
+      #   gt<>: [0.0]
+      # }
     }
 
   wheelbase:
@@ -32,24 +47,30 @@ ackermann_steering_controller:
       }
     }
 
+  traction_wheels_radius:
+    {
+      type: double,
+      default_value: 0.0,
+      description: "Traction wheels radius.",
+      read_only: false,
+      # TODO(anyone): activate validation if front/rear wheel radius is removed
+      # validation: {
+      #   gt<>: [0.0]
+      # }
+    }
+
   front_wheels_radius:
     {
       type: double,
       default_value: 0.0,
-      description: "Front wheels radius.",
+      description: "DEPRECATED: use 'traction_wheels_radius'",
       read_only: false,
-      validation: {
-        gt<>: [0.0]
-      }
     }
 
   rear_wheels_radius:
     {
       type: double,
       default_value: 0.0,
-      description: "Rear wheels radius.",
+      description: "DEPRECATED: use 'traction_wheels_radius'",
       read_only: false,
-      validation: {
-        gt<>: [0.0]
-      }
     }

ackermann_steering_controller/test/ackermann_steering_controller_params.yaml

@@ -2,15 +2,12 @@ test_ackermann_steering_controller:
   ros__parameters:
 
     reference_timeout: 2.0
-    front_steering: true
     open_loop: false
     velocity_rolling_window_size: 10
     position_feedback: false
-    rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint]
-    front_wheels_names: [front_right_steering_joint, front_left_steering_joint]
+    traction_joints_names: [rear_right_wheel_joint, rear_left_wheel_joint]
+    steering_joints_names: [front_right_steering_joint, front_left_steering_joint]
 
     wheelbase: 3.24644
-    front_wheel_track: 2.12321
-    rear_wheel_track: 1.76868
-    front_wheels_radius: 0.45
-    rear_wheels_radius: 0.45
+    traction_wheel_track: 1.76868
+    traction_wheels_radius: 0.45

ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml

@@ -1,16 +1,13 @@
 test_ackermann_steering_controller:
   ros__parameters:
     reference_timeout: 2.0
-    front_steering: true
     open_loop: false
     velocity_rolling_window_size: 10
     position_feedback: false
-    rear_wheels_names: [pid_controller/rear_right_wheel_joint, pid_controller/rear_left_wheel_joint]
-    front_wheels_names: [pid_controller/front_right_steering_joint, pid_controller/front_left_steering_joint]
-    rear_wheels_state_names: [rear_right_wheel_joint, rear_left_wheel_joint]
-    front_wheels_state_names: [front_right_steering_joint, front_left_steering_joint]
+    traction_joints_names: [pid_controller/rear_right_wheel_joint, pid_controller/rear_left_wheel_joint]
+    steering_joints_names: [pid_controller/front_right_steering_joint, pid_controller/front_left_steering_joint]
+    traction_joints_state_names: [rear_right_wheel_joint, rear_left_wheel_joint]
+    steering_joints_state_names: [front_right_steering_joint, front_left_steering_joint]
     wheelbase: 3.24644
-    front_wheel_track: 2.12321
-    rear_wheel_track: 1.76868
-    front_wheels_radius: 0.45
-    rear_wheels_radius: 0.45
+    traction_wheel_track: 1.76868
+    traction_wheels_radius: 0.45

ackermann_steering_controller/test/test_ackermann_steering_controller.cpp

@@ -30,18 +30,15 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
   ASSERT_THAT(
-    controller_->params_.rear_wheels_names, testing::ElementsAreArray(rear_wheels_names_));
+    controller_->params_.traction_joints_names, testing::ElementsAreArray(traction_joints_names_));
   ASSERT_THAT(
-    controller_->params_.front_wheels_names, testing::ElementsAreArray(front_wheels_names_));
-  ASSERT_EQ(controller_->params_.front_steering, front_steering_);
+    controller_->params_.steering_joints_names, testing::ElementsAreArray(steering_joints_names_));
   ASSERT_EQ(controller_->params_.open_loop, open_loop_);
   ASSERT_EQ(controller_->params_.velocity_rolling_window_size, velocity_rolling_window_size_);
   ASSERT_EQ(controller_->params_.position_feedback, position_feedback_);
   ASSERT_EQ(controller_->ackermann_params_.wheelbase, wheelbase_);
-  ASSERT_EQ(controller_->ackermann_params_.front_wheels_radius, front_wheels_radius_);
-  ASSERT_EQ(controller_->ackermann_params_.rear_wheels_radius, rear_wheels_radius_);
-  ASSERT_EQ(controller_->ackermann_params_.front_wheel_track, front_wheel_track_);
-  ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_);
+  ASSERT_EQ(controller_->ackermann_params_.traction_wheels_radius, traction_wheels_radius_);
+  ASSERT_EQ(controller_->ackermann_params_.traction_wheel_track, traction_wheel_track_);
 }
 
 TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
@@ -54,32 +51,32 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
   ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
     cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
-    rear_wheels_names_[0] + "/" + traction_interface_name_);
+    traction_joints_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
     cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
-    rear_wheels_names_[1] + "/" + traction_interface_name_);
+    traction_joints_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
     cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
-    front_wheels_names_[0] + "/" + steering_interface_name_);
+    steering_joints_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
     cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
-    front_wheels_names_[1] + "/" + steering_interface_name_);
+    steering_joints_names_[1] + "/" + steering_interface_name_);
   EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   auto state_if_conf = controller_->state_interface_configuration();
   ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
   EXPECT_EQ(
     state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL],
-    controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
+    controller_->traction_joints_state_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
     state_if_conf.names[STATE_TRACTION_LEFT_WHEEL],
-    controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_);
+    controller_->traction_joints_state_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
     state_if_conf.names[STATE_STEER_RIGHT_WHEEL],
-    controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
+    controller_->steering_joints_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
     state_if_conf.names[STATE_STEER_LEFT_WHEEL],
-    controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
+    controller_->steering_joints_state_names_[1] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // check ref itfs

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -151,22 +151,22 @@ class AckermannSteeringControllerFixture : public ::testing::Test
     command_ifs.reserve(joint_command_values_.size());
 
     command_itfs_.emplace_back(hardware_interface::CommandInterface(
-      rear_wheels_names_[0], traction_interface_name_,
+      traction_joints_names_[0], traction_interface_name_,
       &joint_command_values_[CMD_TRACTION_RIGHT_WHEEL]));
     command_ifs.emplace_back(command_itfs_.back());
 
     command_itfs_.emplace_back(hardware_interface::CommandInterface(
-      rear_wheels_names_[1], steering_interface_name_,
+      traction_joints_names_[1], steering_interface_name_,
       &joint_command_values_[CMD_TRACTION_LEFT_WHEEL]));
     command_ifs.emplace_back(command_itfs_.back());
 
     command_itfs_.emplace_back(hardware_interface::CommandInterface(
-      front_wheels_names_[0], steering_interface_name_,
+      steering_joints_names_[0], steering_interface_name_,
       &joint_command_values_[CMD_STEER_RIGHT_WHEEL]));
     command_ifs.emplace_back(command_itfs_.back());
 
     command_itfs_.emplace_back(hardware_interface::CommandInterface(
-      front_wheels_names_[1], steering_interface_name_,
+      steering_joints_names_[1], steering_interface_name_,
       &joint_command_values_[CMD_STEER_LEFT_WHEEL]));
     command_ifs.emplace_back(command_itfs_.back());
 
@@ -175,22 +175,22 @@ class AckermannSteeringControllerFixture : public ::testing::Test
     state_ifs.reserve(joint_state_values_.size());
 
     state_itfs_.emplace_back(hardware_interface::StateInterface(
-      rear_wheels_names_[0], traction_interface_name_,
+      traction_joints_names_[0], traction_interface_name_,
       &joint_state_values_[STATE_TRACTION_RIGHT_WHEEL]));
     state_ifs.emplace_back(state_itfs_.back());
 
     state_itfs_.emplace_back(hardware_interface::StateInterface(
-      rear_wheels_names_[1], traction_interface_name_,
+      traction_joints_names_[1], traction_interface_name_,
       &joint_state_values_[STATE_TRACTION_LEFT_WHEEL]));
     state_ifs.emplace_back(state_itfs_.back());
 
     state_itfs_.emplace_back(hardware_interface::StateInterface(
-      front_wheels_names_[0], steering_interface_name_,
+      steering_joints_names_[0], steering_interface_name_,
       &joint_state_values_[STATE_STEER_RIGHT_WHEEL]));
     state_ifs.emplace_back(state_itfs_.back());
 
     state_itfs_.emplace_back(hardware_interface::StateInterface(
-      front_wheels_names_[1], steering_interface_name_,
+      steering_joints_names_[1], steering_interface_name_,
       &joint_state_values_[STATE_STEER_LEFT_WHEEL]));
     state_ifs.emplace_back(state_itfs_.back());
 
@@ -269,29 +269,28 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   // Controller-related parameters
   double reference_timeout_ = 2.0;
-  bool front_steering_ = true;
   bool open_loop_ = false;
   unsigned int velocity_rolling_window_size_ = 10;
   bool position_feedback_ = false;
-  std::vector<std::string> rear_wheels_names_ = {"rear_right_wheel_joint", "rear_left_wheel_joint"};
-  std::vector<std::string> front_wheels_names_ = {
+  std::vector<std::string> traction_joints_names_ = {
+    "rear_right_wheel_joint", "rear_left_wheel_joint"};
+  std::vector<std::string> steering_joints_names_ = {
     "front_right_steering_joint", "front_left_steering_joint"};
   std::vector<std::string> joint_names_ = {
-    rear_wheels_names_[0], rear_wheels_names_[1], front_wheels_names_[0], front_wheels_names_[1]};
+    traction_joints_names_[0], traction_joints_names_[1], steering_joints_names_[0],
+    steering_joints_names_[1]};
 
-  std::vector<std::string> rear_wheels_preceeding_names_ = {
+  std::vector<std::string> wheels_preceeding_names_ = {
     "pid_controller/rear_right_wheel_joint", "pid_controller/rear_left_wheel_joint"};
-  std::vector<std::string> front_wheels_preceeding_names_ = {
+  std::vector<std::string> steers_preceeding_names_ = {
     "pid_controller/front_right_steering_joint", "pid_controller/front_left_steering_joint"};
   std::vector<std::string> preceeding_joint_names_ = {
-    rear_wheels_preceeding_names_[0], rear_wheels_preceeding_names_[1],
-    front_wheels_preceeding_names_[0], front_wheels_preceeding_names_[1]};
+    wheels_preceeding_names_[0], wheels_preceeding_names_[1], steers_preceeding_names_[0],
+    steers_preceeding_names_[1]};
 
   double wheelbase_ = 3.24644;
-  double front_wheel_track_ = 2.12321;
-  double rear_wheel_track_ = 1.76868;
-  double front_wheels_radius_ = 0.45;
-  double rear_wheels_radius_ = 0.45;
+  double traction_wheel_track_ = 1.76868;
+  double traction_wheels_radius_ = 0.45;
 
   std::array<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
   std::array<double, 4> joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}};