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| 1 | +// Copyright 2026 Christian Rauch |
| 2 | +// Copyright 2021 PAL Robotics SL. |
| 3 | +// |
| 4 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | +// you may not use this file except in compliance with the License. |
| 6 | +// You may obtain a copy of the License at |
| 7 | +// |
| 8 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | +// |
| 10 | +// Unless required by applicable law or agreed to in writing, software |
| 11 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | +// See the License for the specific language governing permissions and |
| 14 | +// limitations under the License. |
| 15 | + |
| 16 | +/* |
| 17 | + * Authors: Christian Rauch, Subhas Das, Denis Stogl, Victor Lopez |
| 18 | + */ |
| 19 | + |
| 20 | +#include <memory> |
| 21 | +#include <vector> |
| 22 | + |
| 23 | +#include <controller_interface/controller_interface.hpp> |
| 24 | +#include <magnetometer_broadcaster/magnetometer_broadcaster_parameters.hpp> |
| 25 | +#include <pluginlib/class_list_macros.hpp> |
| 26 | +#include <rclcpp_lifecycle/state.hpp> |
| 27 | +#include <realtime_tools/realtime_publisher.hpp> |
| 28 | +#include <semantic_components/magnetic_field_sensor.hpp> |
| 29 | +#include <sensor_msgs/msg/magnetic_field.hpp> |
| 30 | + |
| 31 | +namespace magnetometer_broadcaster |
| 32 | +{ |
| 33 | + |
| 34 | +class MagnetometerBroadcaster : public controller_interface::ControllerInterface |
| 35 | +{ |
| 36 | +public: |
| 37 | + controller_interface::InterfaceConfiguration command_interface_configuration() const override |
| 38 | + { |
| 39 | + return {.type = controller_interface::interface_configuration_type::NONE}; |
| 40 | + } |
| 41 | + |
| 42 | + controller_interface::InterfaceConfiguration state_interface_configuration() const override |
| 43 | + { |
| 44 | + return { |
| 45 | + .type = controller_interface::interface_configuration_type::INDIVIDUAL, |
| 46 | + .names = magnetometer_->get_state_interface_names(), |
| 47 | + }; |
| 48 | + } |
| 49 | + |
| 50 | + controller_interface::CallbackReturn on_init() override |
| 51 | + { |
| 52 | + try |
| 53 | + { |
| 54 | + param_listener_ = std::make_shared<ParamListener>(get_node()); |
| 55 | + } |
| 56 | + catch (const std::exception & e) |
| 57 | + { |
| 58 | + RCLCPP_ERROR_STREAM( |
| 59 | + get_node()->get_logger(), "Exception thrown during init stage with message: " << e.what()); |
| 60 | + return CallbackReturn::ERROR; |
| 61 | + } |
| 62 | + |
| 63 | + return CallbackReturn::SUCCESS; |
| 64 | + } |
| 65 | + |
| 66 | + controller_interface::CallbackReturn on_configure( |
| 67 | + const rclcpp_lifecycle::State & /*previous_state*/) override |
| 68 | + { |
| 69 | + try |
| 70 | + { |
| 71 | + params_ = param_listener_->get_params(); |
| 72 | + } |
| 73 | + catch (const std::exception & e) |
| 74 | + { |
| 75 | + RCLCPP_ERROR_STREAM( |
| 76 | + get_node()->get_logger(), |
| 77 | + "Exception thrown during config stage with message: " << e.what()); |
| 78 | + return CallbackReturn::ERROR; |
| 79 | + } |
| 80 | + |
| 81 | + magnetometer_ = std::make_unique<semantic_components::MagneticFieldSensor>(params_.sensor_name); |
| 82 | + try |
| 83 | + { |
| 84 | + sensor_state_publisher_ = get_node()->create_publisher<sensor_msgs::msg::MagneticField>( |
| 85 | + "~/magnetic_field", rclcpp::SystemDefaultsQoS()); |
| 86 | + realtime_publisher_ = std::make_unique<StatePublisher>(sensor_state_publisher_); |
| 87 | + } |
| 88 | + catch (const std::exception & e) |
| 89 | + { |
| 90 | + RCLCPP_ERROR_STREAM( |
| 91 | + get_node()->get_logger(), |
| 92 | + "Exception thrown during publisher creation at configure stage with message: " << e.what()); |
| 93 | + return CallbackReturn::ERROR; |
| 94 | + } |
| 95 | + |
| 96 | + state_message_.header.frame_id = params_.frame_id; |
| 97 | + std::copy( |
| 98 | + params_.static_covariance.begin(), params_.static_covariance.end(), |
| 99 | + state_message_.magnetic_field_covariance.begin()); |
| 100 | + |
| 101 | + return CallbackReturn::SUCCESS; |
| 102 | + } |
| 103 | + |
| 104 | + controller_interface::CallbackReturn on_activate( |
| 105 | + const rclcpp_lifecycle::State & /*previous_state*/) override |
| 106 | + { |
| 107 | + magnetometer_->assign_loaned_state_interfaces(state_interfaces_); |
| 108 | + return CallbackReturn::SUCCESS; |
| 109 | + } |
| 110 | + |
| 111 | + controller_interface::CallbackReturn on_deactivate( |
| 112 | + const rclcpp_lifecycle::State & /*previous_state*/) override |
| 113 | + { |
| 114 | + magnetometer_->release_interfaces(); |
| 115 | + return CallbackReturn::SUCCESS; |
| 116 | + } |
| 117 | + |
| 118 | + controller_interface::return_type update( |
| 119 | + const rclcpp::Time & time, const rclcpp::Duration & /*period*/) override |
| 120 | + { |
| 121 | + magnetometer_->get_values_as_message(state_message_); |
| 122 | + |
| 123 | + if (realtime_publisher_) |
| 124 | + { |
| 125 | + state_message_.header.stamp = time; |
| 126 | + realtime_publisher_->try_publish(state_message_); |
| 127 | + } |
| 128 | + |
| 129 | + return controller_interface::return_type::OK; |
| 130 | + } |
| 131 | + |
| 132 | +protected: |
| 133 | + std::shared_ptr<ParamListener> param_listener_; |
| 134 | + Params params_; |
| 135 | + |
| 136 | + std::unique_ptr<semantic_components::MagneticFieldSensor> magnetometer_; |
| 137 | + |
| 138 | + using StatePublisher = realtime_tools::RealtimePublisher<sensor_msgs::msg::MagneticField>; |
| 139 | + rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr sensor_state_publisher_; |
| 140 | + std::unique_ptr<StatePublisher> realtime_publisher_; |
| 141 | + sensor_msgs::msg::MagneticField state_message_; |
| 142 | +}; |
| 143 | + |
| 144 | +} // namespace magnetometer_broadcaster |
| 145 | + |
| 146 | +PLUGINLIB_EXPORT_CLASS( |
| 147 | + magnetometer_broadcaster::MagnetometerBroadcaster, controller_interface::ControllerInterface) |
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