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ros2_control - foxy
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ros2_control - foxy
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Public Member Functions | |
| CallbackReturn | on_init (const hardware_interface::HardwareComponentInterfaceParams ¶ms) override |
| hardware_interface::return_type | read (const rclcpp::Time &time, const rclcpp::Duration &period) override |
| hardware_interface::return_type | write (const rclcpp::Time &, const rclcpp::Duration &) override |
 Public Member Functions inherited from hardware_interface::SystemInterface | |
| virtual return_type | configure (const HardwareInfo &system_info)=0 |
| Configuration of the system from data parsed from the robot's URDF. | |
| virtual std::vector< StateInterface > | export_state_interfaces ()=0 |
| Exports all state interfaces for this system. | |
| virtual std::vector< CommandInterface > | export_command_interfaces ()=0 |
| Exports all command interfaces for this system. | |
| virtual return_type | prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &) |
| Prepare for a new command interface switch. | |
| virtual return_type | perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &) |
| virtual return_type | start ()=0 |
| Start exchange data with the hardware. | |
| virtual return_type | stop ()=0 |
| Stop exchange data with the hardware. | |
| virtual std::string | get_name () const =0 |
| Get name of the system hardware. | |
| virtual status | get_status () const =0 |
| Get current state of the system hardware. | |
| virtual return_type | read ()=0 |
| Read the current state values from the actuators and sensors within the system. | |
| virtual return_type | write ()=0 |
| Write the current command values to the actuator within the system. | |
1.9.8