cm_topic_hardware_component::CMTopicSystem Class Reference

Inheritance diagram for cm_topic_hardware_component::CMTopicSystem:

Collaboration diagram for cm_topic_hardware_component::CMTopicSystem:

Public Member Functions
CallbackReturn	on_init (const hardware_interface::HardwareComponentInterfaceParams &params) override
hardware_interface::return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period) override
hardware_interface::return_type	write (const rclcpp::Time &, const rclcpp::Duration &) override
Public Member Functions inherited from hardware_interface::SystemInterface
	SystemInterface (const SystemInterface &other)=delete
	SensorInterface copy constructor is actively deleted.
	SystemInterface (SystemInterface &&other)=default
virtual CallbackReturn	on_init (const HardwareInfo &hardware_info)
	Initialization of the hardware interface from data parsed from the robot's URDF.
virtual std::vector< StateInterface >	export_state_interfaces ()=0
	Exports all state interfaces for this hardware interface.
virtual std::vector< CommandInterface >	export_command_interfaces ()=0
	Exports all command interfaces for this hardware interface.
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	read ()=0
	Read the current state values from the actuator.
virtual return_type	write ()=0
	Write the current command values to the actuator.
virtual std::string	get_name () const
	Get name of the actuator hardware.
const rclcpp_lifecycle::State &	get_state () const
	Get life-cycle state of the actuator hardware.
void	set_state (const rclcpp_lifecycle::State &new_state)
	Set life-cycle state of the actuator hardware.

Additional Inherited Members
Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_
rclcpp_lifecycle::State	lifecycle_state_

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

• topic_based_hardware_interfaces/cm_topic_hardware_component/include/cm_topic_hardware_component/cm_topic_hardware_component.hpp
• topic_based_hardware_interfaces/cm_topic_hardware_component/src/cm_topic_hardware_component.cpp