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actuator_interface.hpp
1// Copyright 2020 - 2021 ros2_control Development Team
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#ifndef HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
16#define HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
17
18#include <memory>
19#include <string>
20#include <vector>
21
22#include "hardware_interface/handle.hpp"
23#include "hardware_interface/hardware_info.hpp"
24#include "hardware_interface/types/hardware_interface_return_values.hpp"
25#include "hardware_interface/types/lifecycle_state_names.hpp"
26#include "lifecycle_msgs/msg/state.hpp"
27#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
28#include "rclcpp_lifecycle/state.hpp"
29
30using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
31
32namespace hardware_interface
33{
35
66class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
67{
68public:
70 : lifecycle_state_(rclcpp_lifecycle::State(
71 lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN))
72 {
73 }
74
76
80 ActuatorInterface(const ActuatorInterface & other) = delete;
81
82 ActuatorInterface(ActuatorInterface && other) = default;
83
84 virtual ~ActuatorInterface() = default;
85
87
92 virtual CallbackReturn on_init(const HardwareInfo & hardware_info)
93 {
94 info_ = hardware_info;
95 return CallbackReturn::SUCCESS;
96 };
97
99
107 virtual std::vector<StateInterface> export_state_interfaces() = 0;
108
110
118 virtual std::vector<CommandInterface> export_command_interfaces() = 0;
119
121
133 virtual return_type prepare_command_mode_switch(
134 const std::vector<std::string> & /*start_interfaces*/,
135 const std::vector<std::string> & /*stop_interfaces*/)
136 {
137 return return_type::OK;
138 }
139
140 // Perform switching to the new command interface.
152 virtual return_type perform_command_mode_switch(
153 const std::vector<std::string> & /*start_interfaces*/,
154 const std::vector<std::string> & /*stop_interfaces*/)
155 {
156 return return_type::OK;
157 }
158
160
167 virtual return_type read() = 0;
168
170
176 virtual return_type write() = 0;
177
179
182 virtual std::string get_name() const { return info_.name; }
183
185
188 const rclcpp_lifecycle::State & get_state() const { return lifecycle_state_; }
189
191
194 void set_state(const rclcpp_lifecycle::State & new_state) { lifecycle_state_ = new_state; }
195
196protected:
197 HardwareInfo info_;
198 rclcpp_lifecycle::State lifecycle_state_;
199};
200
201} // namespace hardware_interface
202#endif // HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.
Definition actuator_interface.hpp:67
virtual return_type read()=0
Read the current state values from the actuator.
virtual CallbackReturn on_init(const HardwareInfo &hardware_info)
Initialization of the hardware interface from data parsed from the robot's URDF.
Definition actuator_interface.hpp:92
virtual std::vector< CommandInterface > export_command_interfaces()=0
Exports all command interfaces for this hardware interface.
virtual std::vector< StateInterface > export_state_interfaces()=0
Exports all state interfaces for this hardware interface.
virtual std::string get_name() const
Get name of the actuator hardware.
Definition actuator_interface.hpp:182
virtual return_type write()=0
Write the current command values to the actuator.
const rclcpp_lifecycle::State & get_state() const
Get life-cycle state of the actuator hardware.
Definition actuator_interface.hpp:188
ActuatorInterface(const ActuatorInterface &other)=delete
SensorInterface copy constructor is actively deleted.
void set_state(const rclcpp_lifecycle::State &new_state)
Set life-cycle state of the actuator hardware.
Definition actuator_interface.hpp:194
virtual return_type prepare_command_mode_switch(const std::vector< std::string > &, const std::vector< std::string > &)
Prepare for a new command interface switch.
Definition actuator_interface.hpp:133
virtual return_type perform_command_mode_switch(const std::vector< std::string > &, const std::vector< std::string > &)
Definition actuator_interface.hpp:152
Definition actuator.hpp:29
This structure stores information about hardware defined in a robot's URDF.
Definition hardware_info.hpp:101
std::string name
Name of the hardware.
Definition hardware_info.hpp:103