diffbot_base

Package documentation

Changelog for package diffbot_base

1.1.0 (2022-03-28)

• fix: missing subscriber initialization (#54)
• feat: warn if eStop() is called on mcu
• Change base config: switch motor pins

• feat: add callbacks for low level pids on mcu #54 For MCU firmware - Add subscribers for left and right motor pid controllers using diffbot_msgs::PIDStamped custom message

  • Update debug logging message (different formatting)

  - Update PID controller interface (provide proportional_, integral_ and derivative_ values)

• fix: missing diffbot namespace in test

• fix: test_encoders.cpp include name

• feat: add documentation link for unity

• Merge pull request #42 from joeuser846/motor-defines Use MOTOR_LEFT/RIGHT from diffbot_base_config.h instead of hardcoding pin numbers

• Fix filenames

• Use MOTOR_LEFT/RIGHT instead of hardcoding pin numbers

• Contributors: Franz Pucher, Joe User

1.0.0 (2021-08-13)

• clean CMakeLists.txt: remove dependency
• add dependency diffbot_msgs_generate_messages_cpp to build diffbot_msgs before diffbot_base package

• Refactor: Update interface - Exchange jointStates between high hw intf and low level base controller - Add measured_joint_state publisher in base controller to let high level hw intf subscribe to it

  • Remove encoder publisher (todo consider publishing at low rate)
  • Update docstrings of BaseController
  • Extend interface of diffbot::Encoder class to read jointStates

• refactor: renamed methods due to interface change: jointStates

• use new jointState intf between high and low level base

• make use of diffbot namespace

• Update base_controller documentation

  • Update BaseController class
  • Add E_STOP_COMMAND_RECEIVED_DURATION define in diffbot_base_config

• update diffbot_base

  • add diffbot namespace to base_controller library classes
  • update docstrings
  • run rosdoc_lite
  • fix some rosdoc_lite warnings

• add diffbot_base launch arg to choose robot model (for remo and diffbot)

• add AngularVelocitiesStamped.h for rosserial

• remove measured_vel_ publisher in rosserial

• add low level pid

  • Add pid lib for arduino code
  • make use of pid in base_controller.h
  • update debug logging
  • use ros::time in encoder lib

• set motor_constant=1 (gain trim model)

• make use of new diffbot_msgs in hardware interface and base_controller

• feat: add debug parameter to parameter server add option to enable/disable debug logging of the hw interface

• refactor base_controller: use ros time instead of millis

• refactor main.cpp: add base_controller class

  • add base_controller.h with BaseController template class
  • use class publisher and subscriber
  • use BaseController instead of global variables
  • read parameters from parameter server in BaseController

• add encoder resolution to config header and getter/setter

• add include guards to encoder.h

• add base_controller rosserial code using rates

• fix vector assignment of command velocity in hw intf

• add tests for motor controllers

• add compiled rosserial diffbot_msgs

• add adafruit_feather_wing motor controller class header

• moved adafruit_feather_wing.cpp to subfolder

• add adafruit_feather_wing motor controller class

• add author comment

• add abstract MotorControllerInterface class

• remove test_motors.cpp

• update encoder lib for rosserial

  • add doc strings to encoder.h
  • add ticksToAngle method
  • add angularVelocity method

• feature: update diffbot_hw_interface

  • add angular wheel joint velocity publisher
  • add new WheelCmd.msg in diffbot_msgs

  - load new hardware related parameters from diffbot_base/config/base.yaml - get hardware related parameters from parameter server in diffbot_hw_interface - add gain trim parameters to dynamic reconfigure cfg

• refactor diffbot_msgs

  • rename Encoder.msg to Encoders.msg
  • update diffbot_pase includes and method signatures
  • update arduino script
  • change diffbot_msgs license to BSDv3

• add base_controller mcu scripts including tests

• Update package.xml change license and add rosserial to exec dependencies

• Contributors: Franz Pucher

0.0.2 (2021-04-30)

• fix #30: reset encoders after each new launch of hardware interface
• call reset in encoders setup()
• add method to check if encoder ticks are published
• update logging in encoders.ino
• initialize encoder_ticks_ in hw interface initialize values in encoder_ticks_ member array of hardware interface to zero because receiving meaningful tick values from the microcontroller might take some time. Alleviates problems in #30
• fix zero time period at control loop start (#30)
• Contributors: Franz Pucher

0.0.1 (2020-12-22)

• update diffbot_base to use Encoder msg
• set control loop rate to 10 Hz
• add diffbot_msgs as dependency to diffbot_base
• use queue_size of 10
• update info output in write() method
• update initial fpid parameters and adjust their range
• update info messages with individual pid errors
• update diffbot_base/launch file to use new diffbot.urdf.xacro
• add dynamic reconfigure to pid class for f,p,i,d,i_max/min and antiwindup
• add pid i_max/min and antiwindup to Parameters.cfg
• add boost to CMakeLists.txt
• update CMakeLists.txt using dynamic reconfigure
• add dynamic_reconfigure to package.xml
• add Parameters.cfg for feed forward gain
• reset pid error and cmd values in case setpoint and p_error is zero: avoids non-vanishing i_error
• tune pid and feed forward gains
• fix major bug: prev_time not updated
• refactor pid to enable dynamic reconfigure for both motors
• add debug output logging messages to pid class and enable dynamic reconfigure - needs param for more than one pid
• let PID inherit from control_toolbox::Pid
• add pid controller for motors from ros control toolbox
• add pid.cpp in cmake
• Update version, mail and license
• fix compile error and runtime errors due to dynamic reconfigure using initPid instead of setGains and tune PID values (P=10.0)
• Update README.md and add comments to code
• move packages from ros/src to repository toplevel folder
• Contributors: Franz Pucher