Inheritance diagram for gazebo_ros2_control::GazeboSystem:

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Collaboration diagram for gazebo_ros2_control::GazeboSystem:

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Public Member Functions
hardware_interface::return_type	configure (const hardware_interface::HardwareInfo &system_info) override
	Configuration of the system from data parsed from the robot's URDF.

std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this system.

std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this system.

hardware_interface::return_type	start () override
	Start exchange data with the hardware.

hardware_interface::return_type	stop () override
	Stop exchange data with the hardware.

hardware_interface::return_type	read () override
	Read the current state values from the actuators and sensors within the system.

hardware_interface::return_type	perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override

hardware_interface::return_type	write () override
	Write the current command values to the actuator within the system.

bool	initSim (rclcpp::Node::SharedPtr &model_nh, gazebo::physics::ModelPtr parent_model, const hardware_interface::HardwareInfo &hardware_info, sdf::ElementPtr sdf) override
	Initialize the system interface param[in] model_nh pointer to the ros2 node param[in] parent_model pointer to the model param[in] control_hardware vector filled with information about robot's control resources param[in] sdf pointer to the SDF.

Public Member Functions inherited from hardware_interface::BaseInterface< hardware_interface::SystemInterface >
return_type	configure_default (const HardwareInfo &info)

std::string	get_name () const final

status	get_status () const final

Public Member Functions inherited from hardware_interface::SystemInterface
virtual return_type	prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
	Prepare for a new command interface switch.

Additional Inherited Members
Public Types inherited from gazebo_ros2_control::GazeboSystemInterface
enum	ControlMethod_ { NONE = 0 , POSITION = (1 << 0) , VELOCITY = (1 << 1) , EFFORT = (1 << 2) }

typedef SafeEnum< enum ControlMethod_ >	ControlMethod

Protected Attributes inherited from gazebo_ros2_control::GazeboSystemInterface
rclcpp::Node::SharedPtr	nh_

Protected Attributes inherited from hardware_interface::BaseInterface< hardware_interface::SystemInterface >
HardwareInfo	info_

status	status_

Member Function Documentation

◆ configure()

hardware_interface::return_type gazebo_ros2_control::GazeboSystem::configure ( const hardware_interface::HardwareInfo & system_info )

overridevirtual

Configuration of the system from data parsed from the robot's URDF.

Parameters

[in] system_info structure with data from URDF.

Returns: return_type::OK if required data are provided and can be parsed, return_type::ERROR otherwise.

Reimplemented from hardware_interface::BaseInterface< hardware_interface::SystemInterface >.

◆ export_command_interfaces()

std::vector< hardware_interface::CommandInterface > gazebo_ros2_control::GazeboSystem::export_command_interfaces ( )

overridevirtual

Exports all command interfaces for this system.

The command interfaces have to be created and transferred according to the system info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of command interfaces

Implements hardware_interface::SystemInterface.

◆ export_state_interfaces()

std::vector< hardware_interface::StateInterface > gazebo_ros2_control::GazeboSystem::export_state_interfaces ( )

overridevirtual

Exports all state interfaces for this system.

The state interfaces have to be created and transferred according to the system info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of state interfaces

Implements hardware_interface::SystemInterface.

◆ initSim()

bool gazebo_ros2_control::GazeboSystem::initSim	(	rclcpp::Node::SharedPtr &	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const hardware_interface::HardwareInfo &	hardware_info,
		sdf::ElementPtr	sdf
	)

overridevirtual

Initialize the system interface param[in] model_nh pointer to the ros2 node param[in] parent_model pointer to the model param[in] control_hardware vector filled with information about robot's control resources param[in] sdf pointer to the SDF.

Implements gazebo_ros2_control::GazeboSystemInterface.

◆ perform_command_mode_switch()

hardware_interface::return_type gazebo_ros2_control::GazeboSystem::perform_command_mode_switch	(	const std::vector< std::string > &	,
		const std::vector< std::string > &
	)

overridevirtual

Perform the mode-switching for the new command interface combination.

Note: This is part of the realtime update loop, and should be fast.; All starting and stopping interface keys are passed to all components, so the function should return return_type::OK by default when given interface keys not relevant for this component.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfacs stopping.

Returns: return_type::OK if the new command interface combination can be switched to, or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented from hardware_interface::SystemInterface.

◆ read()

hardware_interface::return_type gazebo_ros2_control::GazeboSystem::read ( )

overridevirtual

Read the current state values from the actuators and sensors within the system.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ start()

hardware_interface::return_type gazebo_ros2_control::GazeboSystem::start ( )

overridevirtual

Start exchange data with the hardware.

Returns: return_type:OK if everything worked as expected, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ stop()

hardware_interface::return_type gazebo_ros2_control::GazeboSystem::stop ( )

overridevirtual

Stop exchange data with the hardware.

Returns: return_type:OK if everything worked as expected, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ write()

hardware_interface::return_type gazebo_ros2_control::GazeboSystem::write ( )

overridevirtual

Write the current command values to the actuator within the system.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

The documentation for this class was generated from the following files:

gazebo_ros2_control/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp
gazebo_ros2_control/gazebo_ros2_control/src/gazebo_system.cpp

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ configure()

◆ export_command_interfaces()

◆ export_state_interfaces()

◆ initSim()

◆ perform_command_mode_switch()

◆ read()

◆ start()

◆ stop()

◆ write()