controller_manager::ControllerManager Class Reference

Inheritance diagram for controller_manager::ControllerManager:

Collaboration diagram for controller_manager::ControllerManager:

Public Member Functions
CONTROLLER_MANAGER_PUBLIC	ControllerManager (std::unique_ptr< hardware_interface::ResourceManager > resource_manager, std::shared_ptr< rclcpp::Executor > executor, const std::string &manager_node_name="controller_manager", const std::string &namespace_="")
CONTROLLER_MANAGER_PUBLIC	ControllerManager (std::shared_ptr< rclcpp::Executor > executor, const std::string &manager_node_name="controller_manager", const std::string &namespace_="")
CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceSharedPtr	load_controller (const std::string &controller_name, const std::string &controller_type)
CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceSharedPtr	load_controller (const std::string &controller_name)
	load_controller loads a controller by name, the type must be defined in the parameter server.
CONTROLLER_MANAGER_PUBLIC controller_interface::return_type	unload_controller (const std::string &controller_name)
CONTROLLER_MANAGER_PUBLIC std::vector< ControllerSpec >	get_loaded_controllers () const
template<typename T , typename std::enable_if< std::is_convertible< T *, controller_interface::ControllerInterface * >::value, T >::type * = nullptr>
controller_interface::ControllerInterfaceSharedPtr	add_controller (std::shared_ptr< T > controller, const std::string &controller_name, const std::string &controller_type)
CONTROLLER_MANAGER_PUBLIC controller_interface::return_type	configure_controller (const std::string &controller_name)
	configure_controller Configure controller by name calling their "configure" method.
CONTROLLER_MANAGER_PUBLIC controller_interface::return_type	switch_controller (const std::vector< std::string > &start_controllers, const std::vector< std::string > &stop_controllers, int strictness, bool start_asap=kWaitForAllResources, const rclcpp::Duration &timeout=rclcpp::Duration::from_nanoseconds(kInfiniteTimeout))
	switch_controller Stops some controllers and start others.
CONTROLLER_MANAGER_PUBLIC void	read ()
CONTROLLER_MANAGER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period)
CONTROLLER_MANAGER_PUBLIC void	write ()
CONTROLLER_MANAGER_PUBLIC unsigned int	get_update_rate () const
	Deterministic (real-time safe) callback group, e.g., update function.

Static Public Attributes
static constexpr bool	kWaitForAllResources = false
static constexpr auto	kInfiniteTimeout = 0

Protected Member Functions
CONTROLLER_MANAGER_PUBLIC void	init_services ()
CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceSharedPtr	add_controller_impl (const ControllerSpec &controller)
CONTROLLER_MANAGER_PUBLIC void	manage_switch ()
CONTROLLER_MANAGER_PUBLIC void	stop_controllers ()
CONTROLLER_MANAGER_PUBLIC void	start_controllers ()
CONTROLLER_MANAGER_PUBLIC void	start_controllers_asap ()
CONTROLLER_MANAGER_PUBLIC void	list_controllers_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllers::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllers::Response > response)
CONTROLLER_MANAGER_PUBLIC void	list_controller_types_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Response > response)
CONTROLLER_MANAGER_PUBLIC void	list_hardware_interfaces_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Response > response)
CONTROLLER_MANAGER_PUBLIC void	load_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::LoadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::LoadController::Response > response)
CONTROLLER_MANAGER_PUBLIC void	configure_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Request > request, std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Response > response)
CONTROLLER_MANAGER_PUBLIC void	load_and_configure_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::LoadConfigureController::Request > request, std::shared_ptr< controller_manager_msgs::srv::LoadConfigureController::Response > response)
CONTROLLER_MANAGER_PUBLIC void	load_and_start_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::LoadStartController::Request > request, std::shared_ptr< controller_manager_msgs::srv::LoadStartController::Response > response)
CONTROLLER_MANAGER_PUBLIC void	configure_and_start_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ConfigureStartController::Request > request, std::shared_ptr< controller_manager_msgs::srv::ConfigureStartController::Response > response)
CONTROLLER_MANAGER_PUBLIC void	reload_controller_libraries_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Request > request, std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Response > response)
CONTROLLER_MANAGER_PUBLIC void	switch_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::SwitchController::Request > request, std::shared_ptr< controller_manager_msgs::srv::SwitchController::Response > response)
CONTROLLER_MANAGER_PUBLIC void	unload_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::UnloadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::UnloadController::Response > response)

Protected Attributes
unsigned int	update_loop_counter_ = 0
unsigned int	update_rate_ = 100

Member Function Documentation

configure_controller()

controller_interface::return_type controller_manager::ControllerManager::configure_controller

(

const std::string &

controller_name

)

configure_controller Configure controller by name calling their "configure" method.

Parameters

[in]

controller_name

as a string.

Returns

configure controller response

See also

Documentation in controller_manager_msgs/ConfigureController.srv

get_update_rate()

unsigned int controller_manager::ControllerManager::get_update_rate

(

)

const

Deterministic (real-time safe) callback group, e.g., update function.

Deterministic (real-time safe) callback group for the update function. Default behavior is read hardware, update controller and finally write new values to the hardware.

load_controller()

controller_interface::ControllerInterfaceSharedPtr controller_manager::ControllerManager::load_controller

(

const std::string &

controller_name

)

load_controller loads a controller by name, the type must be defined in the parameter server.

Parameters

[in]

controller_name

as a string.

Returns

controller

See also

Documentation in controller_manager_msgs/LoadController.srv

switch_controller()

controller_interface::return_type controller_manager::ControllerManager::switch_controller	(	const std::vector< std::string > &	start_controllers,
		const std::vector< std::string > &	stop_controllers,
		int	strictness,
		bool	start_asap = kWaitForAllResources,
		const rclcpp::Duration &	timeout = rclcpp::Duration::from_nanoseconds(kInfiniteTimeout)
	)

switch_controller Stops some controllers and start others.

Parameters

[in]	start_controllers	is a list of controllers to start
[in]	stop_controllers	is a list of controllers to stop
[in]	set	level of strictness (BEST_EFFORT or STRICT)

See also

Documentation in controller_manager_msgs/SwitchController.srv

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

• ros2_control/controller_manager/include/controller_manager/controller_manager.hpp
• ros2_control/controller_manager/src/controller_manager.cpp