Rename wheel_track to track_width

christophfroehlich · christophfroehlich · commit 1ec176af3f49 · 2025-04-23T07:53:31.000Z
diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.cpp b/ackermann_steering_controller/src/ackermann_steering_controller.cpp
@@ -55,47 +55,55 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom
   {
     RCLCPP_WARN(
       get_node()->get_logger(),
-      "DEPRECATED parameter 'front_wheel_track', set 'traction_wheel_track' or "
-      "'steering_wheel_track' instead");
+      "DEPRECATED parameter 'front_wheel_track', set 'traction_track_width' or "
+      "'steering_track_width' instead");
     if (params_.front_steering)
     {
-      ackermann_params_.steering_wheel_track = ackermann_params_.front_wheel_track;
+      ackermann_params_.steering_track_width = ackermann_params_.front_wheel_track;
     }
     else
     {
-      ackermann_params_.traction_wheel_track = ackermann_params_.front_wheel_track;
+      ackermann_params_.traction_track_width = ackermann_params_.front_wheel_track;
     }
   }
 
   if (ackermann_params_.rear_wheel_track > 0.0)
   {
     RCLCPP_WARN(
       get_node()->get_logger(),
-      "DEPRECATED parameter 'rear_wheel_track', set 'traction_wheel_track' or "
-      "'steering_wheel_track' instead");
+      "DEPRECATED parameter 'rear_wheel_track', set 'traction_track_width' or "
+      "'steering_track_width' instead");
     if (params_.front_steering)
     {
-      ackermann_params_.traction_wheel_track = ackermann_params_.rear_wheel_track;
+      ackermann_params_.traction_track_width = ackermann_params_.rear_wheel_track;
     }
     else
     {
-      ackermann_params_.steering_wheel_track = ackermann_params_.rear_wheel_track;
+      ackermann_params_.steering_track_width = ackermann_params_.rear_wheel_track;
     }
   }
+
+  if (ackermann_params_.traction_wheels_radius <= std::numeric_limits<double>::epsilon())
+  {
+    RCLCPP_FATAL(
+      get_node()->get_logger(),
+      "parameter 'traction_wheels_radius' is not set, cannot configure odometry");
+    return controller_interface::CallbackReturn::ERROR;
+  }
   // END OF DEPRECATED
 
-  if (ackermann_params_.steering_wheel_track <= std::numeric_limits<double>::epsilon())
+  if (ackermann_params_.steering_track_width <= std::numeric_limits<double>::epsilon())
   {
-    ackermann_params_.steering_wheel_track = ackermann_params_.traction_wheel_track;
+    ackermann_params_.steering_track_width = ackermann_params_.traction_track_width;
   }
 
   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 traction_track_width = ackermann_params_.traction_track_width;
+  const double steering_track_width = ackermann_params_.steering_track_width;
   const double wheelbase = ackermann_params_.wheelbase;
 
   odometry_.set_wheel_params(
-    traction_wheels_radius, wheelbase, steering_wheel_track, traction_wheel_track);
+    traction_wheels_radius, wheelbase, steering_track_width, traction_track_width);
   odometry_.set_odometry_type(steering_odometry::ACKERMANN_CONFIG);
 
   set_interface_numbers(NR_STATE_ITFS, NR_CMD_ITFS, NR_REF_ITFS);
diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.yaml b/ackermann_steering_controller/src/ackermann_steering_controller.yaml
@@ -4,27 +4,27 @@ ackermann_steering_controller:
     {
       type: double,
       default_value: 0.0,
-      description: "DEPRECATED: use 'traction_wheel_track' or 'steering_wheel_track'",
+      description: "DEPRECATED: use 'traction_track_width' or 'steering_track_width'",
       read_only: false,
     }
 
-  steering_wheel_track:
+  steering_track_width:
     {
       type: double,
       default_value: 0.0,
-      description: "(Optional) Steering wheel track length. If not set, 'traction_wheel_track' will be used.",
+      description: "(Optional) Steering wheel track length. If not set, 'traction_track_width' will be used.",
       read_only: false,
     }
 
   rear_wheel_track:
     {
       type: double,
       default_value: 0.0,
-      description: "DEPRECATED: use 'traction_wheel_track' or 'steering_wheel_track'",
+      description: "DEPRECATED: use 'traction_track_width' or 'steering_track_width'",
       read_only: false,
     }
 
-  traction_wheel_track:
+  traction_track_width:
     {
       type: double,
       default_value: 0.0,
diff --git a/ackermann_steering_controller/test/ackermann_steering_controller_params.yaml b/ackermann_steering_controller/test/ackermann_steering_controller_params.yaml
@@ -9,5 +9,5 @@ test_ackermann_steering_controller:
     steering_joints_names: [front_right_steering_joint, front_left_steering_joint]
 
     wheelbase: 3.24644
-    traction_wheel_track: 1.76868
+    traction_track_width: 1.76868
     traction_wheels_radius: 0.45
diff --git a/ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml b/ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml
@@ -9,5 +9,5 @@ test_ackermann_steering_controller:
     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
-    traction_wheel_track: 1.76868
+    traction_track_width: 1.76868
     traction_wheels_radius: 0.45
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -39,7 +39,7 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->params_.position_feedback, position_feedback_);
   ASSERT_EQ(controller_->ackermann_params_.wheelbase, wheelbase_);
   ASSERT_EQ(controller_->ackermann_params_.traction_wheels_radius, traction_wheels_radius_);
-  ASSERT_EQ(controller_->ackermann_params_.traction_wheel_track, traction_wheel_track_);
+  ASSERT_EQ(controller_->ackermann_params_.traction_track_width, traction_track_width_);
 }
 
 TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -297,7 +297,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
     steers_preceeding_names_[1]};
 
   double wheelbase_ = 3.24644;
-  double traction_wheel_track_ = 1.76868;
+  double traction_track_width_ = 1.76868;
   double traction_wheels_radius_ = 0.45;
 
   std::array<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp
@@ -41,7 +41,7 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->params_.position_feedback, position_feedback_);
   ASSERT_EQ(controller_->ackermann_params_.wheelbase, wheelbase_);
   ASSERT_EQ(controller_->ackermann_params_.traction_wheels_radius, traction_wheels_radius_);
-  ASSERT_EQ(controller_->ackermann_params_.traction_wheel_track, traction_wheel_track_);
+  ASSERT_EQ(controller_->ackermann_params_.traction_track_width, traction_track_width_);
 }
 
 TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
diff --git a/doc/migration.rst b/doc/migration.rst
@@ -29,4 +29,4 @@ steering_controllers_library
   * *General*: Remove ``front_steering`` and use ``traction_joints_names``/``steering_joints_names`` instead of ``rear_wheels_names``/``front_wheels_names``, respectively.
   * *bicycle_steering_controller*: Set ``traction_wheel_radius`` instead of ``front_wheel_radius``, ``rear_wheel_radius``.
   * *tricycle_steering_controller*: Set ``traction_wheels_radius`` instead of ``front_wheels_radius``, ``rear_wheels_radius``.
-  * *ackermann_steering_controller*: Set ``traction_wheels_radius`` instead of ``front_wheels_radius``, ``rear_wheels_radius``, and ``traction_wheel_track`` (and optionally ``steering_wheel_track``, if it differs) instead of ``rear_wheel_track``, ``front_wheel_track``.
+  * *ackermann_steering_controller*: Set ``traction_wheels_radius`` instead of ``front_wheels_radius``, ``rear_wheels_radius``, and ``traction_track_width`` (and optionally ``steering_track_width``, if it differs) instead of ``rear_wheel_track``, ``front_wheel_track``.
diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
@@ -22,6 +22,7 @@
 #include "steering_controllers_library/steering_odometry.hpp"
 
 #include <cmath>
+#include <iostream>
 #include <limits>
 
 namespace steering_odometry
@@ -338,6 +339,10 @@ std::tuple<std::vector<double>, std::vector<double>> SteeringOdometry::get_comma
         std::atan2(numerator, denominator_first_member - denominator_second_member);
       steering_commands = {alpha_r, alpha_l};
     }
+    std::cout << "traction_commands: " << traction_commands[0] << ", " << traction_commands[1]
+              << " steering_commands: " << steering_commands[0] << ", " << steering_commands[1]
+              << " phi: " << phi << " phi_IK: " << phi_IK << " Ws: " << Ws << std::endl
+              << std::endl;
     return std::make_tuple(traction_commands, steering_commands);
   }
   else
diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.cpp b/tricycle_steering_controller/src/tricycle_steering_controller.cpp
@@ -30,6 +30,8 @@ controller_interface::CallbackReturn TricycleSteeringController::configure_odome
 {
   tricycle_params_ = tricycle_param_listener_->get_params();
 
+  // TODO(anyone): Remove deprecated parameters
+  // START OF DEPRECATED
   if (tricycle_params_.front_wheels_radius > 0.0)
   {
     RCLCPP_WARN(
@@ -46,11 +48,28 @@ controller_interface::CallbackReturn TricycleSteeringController::configure_odome
     tricycle_params_.traction_wheels_radius = tricycle_params_.rear_wheels_radius;
   }
 
+  if (tricycle_params_.wheel_track > 0.0)
+  {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "DEPRECATED parameter 'wheel_track', set 'traction_track_width' instead");
+    tricycle_params_.traction_track_width = tricycle_params_.wheel_track;
+  }
+
+  if (tricycle_params_.traction_track_width <= std::numeric_limits<double>::epsilon())
+  {
+    RCLCPP_FATAL(
+      get_node()->get_logger(),
+      "parameter 'traction_track_width' is not set, cannot configure odometry");
+    return controller_interface::CallbackReturn::ERROR;
+  }
+  // END OF DEPRECATED
+
   const double traction_wheels_radius = tricycle_params_.traction_wheels_radius;
-  const double wheel_track = tricycle_params_.wheel_track;
+  const double traction_track_width = tricycle_params_.traction_track_width;
   const double wheelbase = tricycle_params_.wheelbase;
 
-  odometry_.set_wheel_params(traction_wheels_radius, wheelbase, wheel_track);
+  odometry_.set_wheel_params(traction_wheels_radius, wheelbase, traction_track_width);
   odometry_.set_odometry_type(steering_odometry::TRICYCLE_CONFIG);
 
   set_interface_numbers(NR_STATE_ITFS, NR_CMD_ITFS, NR_REF_ITFS);
diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.yaml b/tricycle_steering_controller/src/tricycle_steering_controller.yaml
@@ -3,11 +3,19 @@ tricycle_steering_controller:
     {
       type: double,
       default_value: 0.0,
-      description: "Wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
+      description: "(deprecated) Axle track, use 'traction_track_width' instead",
       read_only: false,
-      validation: {
-        gt<>: [0.0]
-      }
+    }
+  traction_track_width:
+    {
+      type: double,
+      default_value: 0.0,
+      description: "Axle track",
+      read_only: false,
+      # TODO(anyone): activate validation if wheel_track is removed
+      # validation: {
+      #   gt<>: [0.0]
+      # }
     }
 
   wheelbase:

Original file line number	Diff line number	Diff line change
`@@ -55,47 +55,55 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom`
`55`	`55`	`{`
`56`	`56`	`RCLCPP_WARN(`
`57`	`57`	`get_node()->get_logger(),`
`58`		`- "DEPRECATED parameter 'front_wheel_track', set 'traction_wheel_track' or "`
`59`		`- "'steering_wheel_track' instead");`
	`58`	`+ "DEPRECATED parameter 'front_wheel_track', set 'traction_track_width' or "`
	`59`	`+ "'steering_track_width' instead");`
`60`	`60`	`if (params_.front_steering)`
`61`	`61`	`{`
`62`		`- ackermann_params_.steering_wheel_track = ackermann_params_.front_wheel_track;`
	`62`	`+ ackermann_params_.steering_track_width = ackermann_params_.front_wheel_track;`
`63`	`63`	`}`
`64`	`64`	`else`
`65`	`65`	`{`
`66`		`- ackermann_params_.traction_wheel_track = ackermann_params_.front_wheel_track;`
	`66`	`+ ackermann_params_.traction_track_width = ackermann_params_.front_wheel_track;`
`67`	`67`	`}`
`68`	`68`	`}`
`69`	`69`
`70`	`70`	`if (ackermann_params_.rear_wheel_track > 0.0)`
`71`	`71`	`{`
`72`	`72`	`RCLCPP_WARN(`
`73`	`73`	`get_node()->get_logger(),`
`74`		`- "DEPRECATED parameter 'rear_wheel_track', set 'traction_wheel_track' or "`
`75`		`- "'steering_wheel_track' instead");`
	`74`	`+ "DEPRECATED parameter 'rear_wheel_track', set 'traction_track_width' or "`
	`75`	`+ "'steering_track_width' instead");`
`76`	`76`	`if (params_.front_steering)`
`77`	`77`	`{`
`78`		`- ackermann_params_.traction_wheel_track = ackermann_params_.rear_wheel_track;`
	`78`	`+ ackermann_params_.traction_track_width = ackermann_params_.rear_wheel_track;`
`79`	`79`	`}`
`80`	`80`	`else`
`81`	`81`	`{`
`82`		`- ackermann_params_.steering_wheel_track = ackermann_params_.rear_wheel_track;`
	`82`	`+ ackermann_params_.steering_track_width = ackermann_params_.rear_wheel_track;`
`83`	`83`	`}`
`84`	`84`	`}`
	`85`	`+`
	`86`	`+ if (ackermann_params_.traction_wheels_radius <= std::numeric_limits<double>::epsilon())`
	`87`	`+ {`
	`88`	`+ RCLCPP_FATAL(`
	`89`	`+ get_node()->get_logger(),`
	`90`	`+ "parameter 'traction_wheels_radius' is not set, cannot configure odometry");`
	`91`	`+ return controller_interface::CallbackReturn::ERROR;`
	`92`	`+ }`
`85`	`93`	`// END OF DEPRECATED`
`86`	`94`
`87`		`- if (ackermann_params_.steering_wheel_track <= std::numeric_limits<double>::epsilon())`
	`95`	`+ if (ackermann_params_.steering_track_width <= std::numeric_limits<double>::epsilon())`
`88`	`96`	`{`
`89`		`- ackermann_params_.steering_wheel_track = ackermann_params_.traction_wheel_track;`
	`97`	`+ ackermann_params_.steering_track_width = ackermann_params_.traction_track_width;`
`90`	`98`	`}`
`91`	`99`
`92`	`100`	`const double traction_wheels_radius = ackermann_params_.traction_wheels_radius;`
`93`		`- const double traction_wheel_track = ackermann_params_.traction_wheel_track;`
`94`		`- const double steering_wheel_track = ackermann_params_.steering_wheel_track;`
	`101`	`+ const double traction_track_width = ackermann_params_.traction_track_width;`
	`102`	`+ const double steering_track_width = ackermann_params_.steering_track_width;`
`95`	`103`	`const double wheelbase = ackermann_params_.wheelbase;`
`96`	`104`
`97`	`105`	`odometry_.set_wheel_params(`
`98`		`- traction_wheels_radius, wheelbase, steering_wheel_track, traction_wheel_track);`
	`106`	`+ traction_wheels_radius, wheelbase, steering_track_width, traction_track_width);`
`99`	`107`	`odometry_.set_odometry_type(steering_odometry::ACKERMANN_CONFIG);`
`100`	`108`
`101`	`109`	`set_interface_numbers(NR_STATE_ITFS, NR_CMD_ITFS, NR_REF_ITFS);`
Original file line number	Diff line number	Diff line change
`@@ -4,27 +4,27 @@ ackermann_steering_controller:`
`4`	`4`	`{`
`5`	`5`	`type: double,`
`6`	`6`	`default_value: 0.0,`
`7`		`- description: "DEPRECATED: use 'traction_wheel_track' or 'steering_wheel_track'",`
	`7`	`+ description: "DEPRECATED: use 'traction_track_width' or 'steering_track_width'",`
`8`	`8`	`read_only: false,`
`9`	`9`	`}`
`10`	`10`
`11`		`- steering_wheel_track:`
	`11`	`+ steering_track_width:`
`12`	`12`	`{`
`13`	`13`	`type: double,`
`14`	`14`	`default_value: 0.0,`
`15`		`- description: "(Optional) Steering wheel track length. If not set, 'traction_wheel_track' will be used.",`
	`15`	`+ description: "(Optional) Steering wheel track length. If not set, 'traction_track_width' will be used.",`
`16`	`16`	`read_only: false,`
`17`	`17`	`}`
`18`	`18`
`19`	`19`	`rear_wheel_track:`
`20`	`20`	`{`
`21`	`21`	`type: double,`
`22`	`22`	`default_value: 0.0,`
`23`		`- description: "DEPRECATED: use 'traction_wheel_track' or 'steering_wheel_track'",`
	`23`	`+ description: "DEPRECATED: use 'traction_track_width' or 'steering_track_width'",`
`24`	`24`	`read_only: false,`
`25`	`25`	`}`
`26`	`26`
`27`		`- traction_wheel_track:`
	`27`	`+ traction_track_width:`
`28`	`28`	`{`
`29`	`29`	`type: double,`
`30`	`30`	`default_value: 0.0,`
Original file line number	Diff line number	Diff line change
`@@ -39,7 +39,7 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)`
`39`	`39`	`ASSERT_EQ(controller_->params_.position_feedback, position_feedback_);`
`40`	`40`	`ASSERT_EQ(controller_->ackermann_params_.wheelbase, wheelbase_);`
`41`	`41`	`ASSERT_EQ(controller_->ackermann_params_.traction_wheels_radius, traction_wheels_radius_);`
`42`		`- ASSERT_EQ(controller_->ackermann_params_.traction_wheel_track, traction_wheel_track_);`
	`42`	`+ ASSERT_EQ(controller_->ackermann_params_.traction_track_width, traction_track_width_);`
`43`	`43`	`}`
`44`	`44`
`45`	`45`	`TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)`
Original file line number	Diff line number	Diff line change
`@@ -41,7 +41,7 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)`
`41`	`41`	`ASSERT_EQ(controller_->params_.position_feedback, position_feedback_);`
`42`	`42`	`ASSERT_EQ(controller_->ackermann_params_.wheelbase, wheelbase_);`
`43`	`43`	`ASSERT_EQ(controller_->ackermann_params_.traction_wheels_radius, traction_wheels_radius_);`
`44`		`- ASSERT_EQ(controller_->ackermann_params_.traction_wheel_track, traction_wheel_track_);`
	`44`	`+ ASSERT_EQ(controller_->ackermann_params_.traction_track_width, traction_track_width_);`
`45`	`45`	`}`
`46`	`46`
`47`	`47`	`TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)`