Inheritance diagram for ign_ros2_control::IgnitionSystemInterface:

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Collaboration diagram for ign_ros2_control::IgnitionSystemInterface:

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Public Types
enum	ControlMethod_ { NONE = 0 , POSITION = (1 << 0) , VELOCITY = (1 << 1) , EFFORT = (1 << 2) }

typedef SafeEnum< enum ControlMethod_ >	ControlMethod

Public Member Functions
virtual bool	initSim (rclcpp::Node::SharedPtr &model_nh, std::map< std::string, ignition::gazebo::Entity > &joints, const hardware_interface::HardwareInfo &hardware_info, ignition::gazebo::EntityComponentManager &_ecm, int &update_rate)=0
	Initialize the system interface param[in] model_nh Pointer to the ros2 node param[in] joints Map with the name of the joint as the key and the value is related with the entity in Gazebo param[in] hardware_info structure with data from URDF. param[in] _ecm Entity-component manager. param[in] update_rate controller update rate.

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

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 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 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.

Protected Attributes
rclcpp::Node::SharedPtr	nh_

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

status	status_

Member Function Documentation

◆ initSim()

virtual bool ign_ros2_control::IgnitionSystemInterface::initSim	(	rclcpp::Node::SharedPtr &	model_nh,
		std::map< std::string, ignition::gazebo::Entity > &	joints,
		const hardware_interface::HardwareInfo &	hardware_info,
		ignition::gazebo::EntityComponentManager &	_ecm,
		int &	update_rate
	)

pure virtual

Initialize the system interface param[in] model_nh Pointer to the ros2 node param[in] joints Map with the name of the joint as the key and the value is related with the entity in Gazebo param[in] hardware_info structure with data from URDF. param[in] _ecm Entity-component manager. param[in] update_rate controller update rate.

Implemented in ign_ros2_control::IgnitionSystem.

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

gz_ros2_control/ign_ros2_control/include/ign_ros2_control/ign_system_interface.hpp

Public Types

Public Member Functions

Protected Attributes

Member Function Documentation

◆ initSim()