Program Listing for File unitree_ros.hpp

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/*
Copyright (c) 2023, University of Luxembourg
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef UNITREE_ROS_HPP
#define UNITREE_ROS_HPP

#include <tf2/LinearMath/Quaternion.h>
#include <tf2_ros/transform_broadcaster.h>

#include <geometry_msgs/msg/twist.hpp>
#include <memory>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <std_msgs/msg/empty.hpp>
#include <std_msgs/msg/u_int8_multi_array.hpp>
#include <unitree_ros/msg/bms_state.hpp>
#include <unitree_ros/msg/sensor_ranges.hpp>

#include "unitree_ros/common_defines.hpp"
#include "unitree_ros/unitree_driver.hpp"

class UnitreeRosNode : public rclcpp::Node {
   private:
    // Robot
    std::unique_ptr<UnitreeDriver> unitree_driver_;
    std::string robot_ip_ = "192.168.123.161";
    int robot_target_port_ = 8082;

    // Topic Names
    std::string ns_ = "";  // namespace
    std::string cmd_vel_topic_name_ = ns_ + "/cmd_vel";
    std::string odom_topic_name_ = ns_ + "/odom";
    std::string imu_topic_name_ = ns_ + "/imu";
    std::string bms_topic_name_ = ns_ + "/bms";
    std::string sensor_ranges_topic_name = ns_ + "/sensor_ranges";
    std::string joint_states_topic_name = ns_ + "/joint_states";

    // Frame Ids
    std::string odom_frame_id_ = ns_ + "odom";
    std::string odom_child_frame_id_ = ns_ + "base_link";
    std::string imu_frame_id_ = ns_ + "imu";

    // Publishers
    rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
    rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_;
    rclcpp::Publisher<unitree_ros::msg::BmsState>::SharedPtr bms_pub_;
    rclcpp::Publisher<unitree_ros::msg::SensorRanges>::SharedPtr sensor_ranges_pub_;
    rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr joint_states_pub_;

    // Subscriptions
    rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
    rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr stand_up_sub_;
    rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr stand_down_sub_;

    // Timers
    rclcpp::TimerBase::SharedPtr robot_state_timer_;
    // This timer is used to reset the velocity command to 0, which is a safety
    // measure.
    rclcpp::TimerBase::SharedPtr cmd_vel_reset_timer_;
    rclcpp::TimerBase::SharedPtr check_robot_battery_timer_;
    rclcpp::Time prev_cmd_vel_sent_;
    rclcpp::Clock clock_;

    // TF
    std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;

    // Flags
    uint8_t low_batt_shutdown_threshold_ = 20;
    bool use_obstacle_avoidance_ = false;

   public:
    UnitreeRosNode();
    ~UnitreeRosNode();

   private:
    void read_parameters_();

    void init_subscriptions_();
    void init_publishers_();
    void init_timers_();

    void cmd_vel_callback_(const geometry_msgs::msg::Twist::UniquePtr msg);
    void robot_state_callback_();
    void check_robot_battery_callback_();
    void cmd_vel_reset_callback_();
    void stand_up_callback_(const std_msgs::msg::Empty::UniquePtr msg);
    void stand_down_callback_(const std_msgs::msg::Empty::UniquePtr msg);

    void publish_odom_(rclcpp::Time time);
    void publish_imu_(rclcpp::Time time);
    void publish_bms_();
    void publish_sensor_ranges_();
    void publish_odom_tf_(rclcpp::Time time, odom_t odom);
    void publish_joint_states_(rclcpp::Time time);

    void apply_namespace_to_topic_names_();
};

#endif  // !UNITREE_ROS_HPP