Helper class to simplify integrating the GripperActionController with different hardware interfaces. More...

Public Member Functions
bool	init (std::experimental::optional< std::reference_wrapper< hardware_interface::LoanedCommandInterface > >, const rclcpp::Node::SharedPtr &)

void	starting (const rclcpp::Time &)

void	stopping (const rclcpp::Time &)

double	updateCommand (double, double, double, double, double)

Detailed Description

template<const char * HardwareInterface>
class HardwareInterfaceAdapter< HardwareInterface >

Helper class to simplify integrating the GripperActionController with different hardware interfaces.

The GripperActionController outputs position while it is supposed to work with either position or effort commands.

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

ros2_controllers/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp

Public Member Functions