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Fix SpeedLimiter Constructor regression #1478

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Fix SpeedLimiter Constructor regression #1478

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4054b86
Remove the default args to avoid the ambiguous constructor
saikishor Jan 9, 2025
7a28c7e
Make speed_limiters unique_ptr
saikishor Jan 9, 2025
8bdb8b3
Merge branch 'master' into fix/speed_limiter/regression
saikishor Jan 9, 2025
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4 changes: 2 additions & 2 deletions diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,8 +123,8 @@ class DiffDriveController : public controller_interface::ControllerInterface
std::queue<TwistStamped> previous_commands_; // last two commands

// speed limiters
SpeedLimiter limiter_linear_;
SpeedLimiter limiter_angular_;
std::unique_ptr<SpeedLimiter> limiter_linear_;
std::unique_ptr<SpeedLimiter> limiter_angular_;

bool publish_limited_velocity_ = false;
std::shared_ptr<rclcpp::Publisher<TwistStamped>> limited_velocity_publisher_ = nullptr;
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20 changes: 10 additions & 10 deletions diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp
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Expand Up @@ -40,7 +40,7 @@ class SpeedLimiter
* \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
* \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
*/
[[deprecated]] SpeedLimiter(
[[deprecated]] explicit SpeedLimiter(
bool has_velocity_limits = true, bool has_acceleration_limits = true,
bool has_jerk_limits = true, double min_velocity = std::numeric_limits<double>::quiet_NaN(),
double max_velocity = std::numeric_limits<double>::quiet_NaN(),
Expand Down Expand Up @@ -79,16 +79,16 @@ class SpeedLimiter
* >= 0
* \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
* \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
*
* \note
* If max_* values are NAN, the respective limit is deactivated
* If min_* values are NAN (unspecified), defaults to -max
* If min_first_derivative_pos/max_first_derivative_neg values are NAN, symmetric limits are used
*/
SpeedLimiter(
double min_velocity = std::numeric_limits<double>::quiet_NaN(),
double max_velocity = std::numeric_limits<double>::quiet_NaN(),
double max_acceleration_reverse = std::numeric_limits<double>::quiet_NaN(),
double max_acceleration = std::numeric_limits<double>::quiet_NaN(),
double max_deceleration = std::numeric_limits<double>::quiet_NaN(),
double max_deceleration_reverse = std::numeric_limits<double>::quiet_NaN(),
double min_jerk = std::numeric_limits<double>::quiet_NaN(),
double max_jerk = std::numeric_limits<double>::quiet_NaN())
explicit SpeedLimiter(
double min_velocity, double max_velocity, double max_acceleration_reverse,
double max_acceleration, double max_deceleration, double max_deceleration_reverse,
double min_jerk, double max_jerk)
{
speed_limiter_ = control_toolbox::RateLimiter<double>(
min_velocity, max_velocity, max_acceleration_reverse, max_acceleration, max_deceleration,
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17 changes: 5 additions & 12 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,14 +45,7 @@ using hardware_interface::HW_IF_POSITION;
using hardware_interface::HW_IF_VELOCITY;
using lifecycle_msgs::msg::State;

DiffDriveController::DiffDriveController()
: controller_interface::ControllerInterface(),
// dummy limiter, will be created in on_configure
// could be done with shared_ptr instead -> but will break ABI
limiter_angular_(std::numeric_limits<double>::quiet_NaN()),
limiter_linear_(std::numeric_limits<double>::quiet_NaN())
{
}
DiffDriveController::DiffDriveController() : controller_interface::ControllerInterface() {}

const char * DiffDriveController::feedback_type() const
{
Expand Down Expand Up @@ -241,9 +234,9 @@ controller_interface::return_type DiffDriveController::update(

auto & last_command = previous_commands_.back().twist;
auto & second_to_last_command = previous_commands_.front().twist;
limiter_linear_.limit(
limiter_linear_->limit(
linear_command, last_command.linear.x, second_to_last_command.linear.x, period.seconds());
limiter_angular_.limit(
limiter_angular_->limit(
angular_command, last_command.angular.z, second_to_last_command.angular.z, period.seconds());

previous_commands_.pop();
Expand Down Expand Up @@ -365,13 +358,13 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
std::numeric_limits<double>::quiet_NaN();
}
// END DEPRECATED
limiter_linear_ = SpeedLimiter(
limiter_linear_ = std::make_unique<SpeedLimiter>(
params_.linear.x.min_velocity, params_.linear.x.max_velocity,
params_.linear.x.max_acceleration_reverse, params_.linear.x.max_acceleration,
params_.linear.x.max_deceleration, params_.linear.x.max_deceleration_reverse,
params_.linear.x.min_jerk, params_.linear.x.max_jerk);

limiter_angular_ = SpeedLimiter(
limiter_angular_ = std::make_unique<SpeedLimiter>(
params_.angular.z.min_velocity, params_.angular.z.max_velocity,
params_.angular.z.max_acceleration_reverse, params_.angular.z.max_acceleration,
params_.angular.z.max_deceleration, params_.angular.z.max_deceleration_reverse,
Expand Down
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