ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware Class Reference

Inheritance diagram for ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware:

Collaboration diagram for ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware:

Public Member Functions
	RCLCPP_SHARED_PTR_DEFINITIONS (RRBotSystemMultiInterfaceHardware)
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC return_type	configure (const hardware_interface::HardwareInfo &info) override
	Configuration of the system from data parsed from the robot's URDF.
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this system.
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this system.
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC return_type	prepare_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override
	Prepare for a new command interface switch.
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC return_type	start () override
	Start exchange data with the hardware.
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC return_type	stop () override
	Stop exchange data with the hardware.
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC return_type	read () override
	Read the current state values from the actuators and sensors within the system.
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC return_type	write () override
	Write the current command values to the actuator within the system.
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	perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)

Additional Inherited Members
Protected Attributes inherited from hardware_interface::BaseInterface< hardware_interface::SystemInterface >
HardwareInfo	info_
status	status_

Member Function Documentation

configure()

return_type ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware::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 > ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware::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 > ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware::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.

prepare_command_mode_switch()

return_type ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware::prepare_command_mode_switch ( const std::vector< std::string > &  , const std::vector< std::string > &    )

overridevirtual

Prepare for a new command interface switch.

Prepare for any mode-switching required by the new command interface combination.

Note

This is a non-realtime evaluation of whether a set of command interface claims are possible, and call to start preparing data structures for the upcoming switch that will occur.

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 prepared, or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented from hardware_interface::SystemInterface.

read()

return_type ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware::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()

return_type ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware::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()

return_type ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware::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()

return_type ros2_control_demo_hardware::RRBotSystemMultiInterfaceHardware::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.

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

• ros2_control_demos/ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_multi_interface.hpp
• ros2_control_demos/ros2_control_demo_hardware/src/rrbot_system_multi_interface.cpp