joint_state_broadcaster::JointStateBroadcaster Class Reference

Inheritance diagram for joint_state_broadcaster::JointStateBroadcaster:

Collaboration diagram for joint_state_broadcaster::JointStateBroadcaster:

Public Member Functions
JOINT_STATE_BROADCASTER_PUBLIC controller_interface::return_type	init (const std::string &controller_name) override
JOINT_STATE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
JOINT_STATE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
JOINT_STATE_BROADCASTER_PUBLIC controller_interface::return_type	update () override
JOINT_STATE_BROADCASTER_PUBLIC rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
JOINT_STATE_BROADCASTER_PUBLIC rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
JOINT_STATE_BROADCASTER_PUBLIC rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
Public Member Functions inherited from controller_interface::ControllerInterface
CONTROLLER_INTERFACE_PUBLIC void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)
CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()
virtual CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name, rclcpp::NodeOptions &node_options)
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp::Node >	get_node ()
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	cleanup ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	deactivate ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	activate ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	shutdown ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_current_state () const

Protected Member Functions
bool	init_joint_data ()
void	init_joint_state_msg ()
void	init_dynamic_joint_state_msg ()

Protected Attributes
bool	use_local_topics_
std::vector< std::string >	joint_names_
std::shared_ptr< rclcpp::Publisher< sensor_msgs::msg::JointState > >	joint_state_publisher_
std::shared_ptr< realtime_tools::RealtimePublisher< sensor_msgs::msg::JointState > >	realtime_joint_state_publisher_
std::unordered_map< std::string, std::unordered_map< std::string, double > >	name_if_value_mapping_
std::shared_ptr< rclcpp::Publisher< control_msgs::msg::DynamicJointState > >	dynamic_joint_state_publisher_
std::shared_ptr< realtime_tools::RealtimePublisher< control_msgs::msg::DynamicJointState > >	realtime_dynamic_joint_state_publisher_
Protected Attributes inherited from controller_interface::ControllerInterface
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_
std::shared_ptr< rclcpp::Node >	node_
rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration joint_state_broadcaster::JointStateBroadcaster::command_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

init()

controller_interface::return_type joint_state_broadcaster::JointStateBroadcaster::init ( const std::string &  controller_name )

overridevirtual

Reimplemented from controller_interface::ControllerInterface.

init_joint_state_msg()

void joint_state_broadcaster::JointStateBroadcaster::init_joint_state_msg ( )

protected

Note

joint_state_msg publishes position, velocity and effort for all joints, with at least one of these interfaces, the rest are omitted from this message

state_interface_configuration()

controller_interface::InterfaceConfiguration joint_state_broadcaster::JointStateBroadcaster::state_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

update()

controller_interface::return_type joint_state_broadcaster::JointStateBroadcaster::update ( )

overridevirtual

Implements controller_interface::ControllerInterface.

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

• ros2_controllers/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
• ros2_controllers/joint_state_broadcaster/src/joint_state_broadcaster.cpp