Inheritance diagram for controller_interface::ControllerInterface:

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Collaboration diagram for controller_interface::ControllerInterface:

Public Member Functions
virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration	command_interface_configuration () const =0

virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration	state_interface_configuration () const =0

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 LifecycleNodeInterface::CallbackReturn	on_init ()=0

virtual CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name)

virtual CONTROLLER_INTERFACE_PUBLIC return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period)=0

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_state () const

CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const

Protected Attributes
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_

unsigned int	update_rate_ = 0

Member Function Documentation

◆ auto_declare()

template<typename ParameterT >

auto controller_interface::ControllerInterface::auto_declare	(	const std::string &	name,
		const ParameterT &	default_value
	)

inline

Declare and initialize a parameter with a type.

Wrapper function for templated node's declare_parameter() which checks if parameter is already declared. For use in all components that inherit from ControllerInterface

◆ command_interface_configuration()

virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration controller_interface::ControllerInterface::command_interface_configuration ( ) const

pure virtual

Implemented in gripper_action_controller::GripperActionController< HardwareInterface >, and joint_trajectory_controller::JointTrajectoryController.

◆ configure()

const rclcpp_lifecycle::State & controller_interface::ControllerInterface::configure ( )

The methods below are a substitute to the LifecycleNode methods with the same name. The Life cycle is shown in ROS2 design document: https://design.ros2.org/articles/node_lifecycle.html We cannot use a LifecycleNode because it would expose change-state services to the rest of the ROS system. Only the Controller Manager should have possibility to change state of a controller.

Hopefully in the future we can use a LifecycleNode where we disable modifications from the outside.

◆ state_interface_configuration()

virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration controller_interface::ControllerInterface::state_interface_configuration ( ) const