fake_components::GenericSystem Class Reference

Inheritance diagram for fake_components::GenericSystem:

Collaboration diagram for fake_components::GenericSystem:

Classes
struct	MimicJoint

Public Member Functions
CallbackReturn	on_init (const hardware_interface::HardwareInfo &info) override
	Initialization of the hardware interface from data parsed from the robot's URDF.
std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this hardware interface.
std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this hardware interface.
return_type	read () override
	Read the current state values from the actuator.
return_type	write () override
	Write the current command values to the actuator.
Public Member Functions inherited from hardware_interface::SystemInterface
	SystemInterface (const SystemInterface &other)=delete
	SensorInterface copy constructor is actively deleted.
	SystemInterface (SystemInterface &&other)=default
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 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.

Protected Attributes
const std::vector< std::string >	standard_interfaces_
	Use standard interfaces for joints because they are relevant for dynamic behavior.
const size_t	POSITION_INTERFACE_INDEX = 0
std::vector< MimicJoint >	mimic_joints_
std::vector< std::vector< double > >	joint_commands_
	The size of this vector is (standard_interfaces_.size() x nr_joints)
std::vector< std::vector< double > >	joint_states_
std::vector< std::string >	other_interfaces_
std::vector< std::vector< double > >	other_commands_
	The size of this vector is (other_interfaces_.size() x nr_joints)
std::vector< std::vector< double > >	other_states_
std::vector< std::string >	sensor_interfaces_
std::vector< std::vector< double > >	sensor_fake_commands_
	The size of this vector is (sensor_interfaces_.size() x nr_joints)
std::vector< std::vector< double > >	sensor_states_
std::vector< std::string >	gpio_interfaces_
std::vector< std::vector< double > >	gpio_fake_commands_
	The size of this vector is (gpio_interfaces_.size() x nr_joints)
std::vector< std::vector< double > >	gpio_commands_
std::vector< std::vector< double > >	gpio_states_
Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_
rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

export_command_interfaces()

std::vector< hardware_interface::CommandInterface > fake_components::GenericSystem::export_command_interfaces ( )

overridevirtual

Exports all command interfaces for this hardware interface.

The command interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns

vector of command interfaces

Implements hardware_interface::SystemInterface.

export_state_interfaces()

std::vector< hardware_interface::StateInterface > fake_components::GenericSystem::export_state_interfaces ( )

overridevirtual

Exports all state interfaces for this hardware interface.

The state interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns

vector of state interfaces

Implements hardware_interface::SystemInterface.

on_init()

CallbackReturn fake_components::GenericSystem::on_init ( const hardware_interface::HardwareInfo &  hardware_info )

overridevirtual

Initialization of the hardware interface from data parsed from the robot's URDF.

Parameters

[in]

hardware_info

structure with data from URDF.

Returns

CallbackReturn::SUCCESS if required data are provided and can be parsed.

CallbackReturn::ERROR if any error happens or data are missing.

Reimplemented from hardware_interface::SystemInterface.

read()

return_type fake_components::GenericSystem::read ( )

overridevirtual

Read the current state values from the actuator.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

Returns

return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

write()

return_type fake_components::GenericSystem::write ( )

inlineoverridevirtual

Write the current command values to the actuator.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Returns

return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

Member Data Documentation

standard_interfaces_

const std::vector<std::string> fake_components::GenericSystem::standard_interfaces_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT}

Use standard interfaces for joints because they are relevant for dynamic behavior.

By splitting the standard interfaces from other type, the users are able to inherit this class and simply create small "simulation" with desired dynamic behavior. The advantage over using Gazebo is that enables "quick & dirty" tests of robot's URDF and controllers.

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

• ros2_control/hardware_interface/include/fake_components/generic_system.hpp
• ros2_control/hardware_interface/src/fake_components/generic_system.cpp