ROS2 Control
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fake_components::GenericSystem Class Reference
Inheritance diagram for fake_components::GenericSystem:
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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. More...
 
std::vector< hardware_interface::StateInterfaceexport_state_interfaces () override
 Exports all state interfaces for this hardware interface. More...
 
std::vector< hardware_interface::CommandInterfaceexport_command_interfaces () override
 Exports all command interfaces for this hardware interface. More...
 
return_type read () override
 Read the current state values from the actuator. More...
 
return_type write () override
 Write the current command values to the actuator. More...
 
- Public Member Functions inherited from hardware_interface::SystemInterface
 SystemInterface (const SystemInterface &other)=delete
 SensorInterface copy constructor is actively deleted. More...
 
 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. More...
 
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. More...
 
const rclcpp_lifecycle::State & get_state () const
 Get life-cycle state of the actuator hardware. More...
 
void set_state (const rclcpp_lifecycle::State &new_state)
 Set life-cycle state of the actuator hardware. More...
 

Protected Attributes

const std::vector< std::string > standard_interfaces_
 Use standard interfaces for joints because they are relevant for dynamic behavior. More...
 
const size_t POSITION_INTERFACE_INDEX = 0
 
std::vector< MimicJointmimic_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_infostructure 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:
= {
constexpr char HW_IF_EFFORT[]
Constant defining effort interface.
Definition: hardware_interface_type_values.hpp:27
constexpr char HW_IF_ACCELERATION[]
Constant defining acceleration interface.
Definition: hardware_interface_type_values.hpp:25
constexpr char HW_IF_VELOCITY[]
Constant defining velocity interface.
Definition: hardware_interface_type_values.hpp:23
constexpr char HW_IF_POSITION[]
Constant defining position interface.
Definition: hardware_interface_type_values.hpp:21

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.


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