forward_command_controller::ForwardCommandController Class Reference

Forward command controller for a set of joints. More...

#include <forward_command_controller.hpp>

Inheritance diagram for forward_command_controller::ForwardCommandController:

Collaboration diagram for forward_command_controller::ForwardCommandController:

Public Member Functions
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
FORWARD_COMMAND_CONTROLLER_PUBLIC CallbackReturn	on_init () override
FORWARD_COMMAND_CONTROLLER_PUBLIC CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
FORWARD_COMMAND_CONTROLLER_PUBLIC CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
FORWARD_COMMAND_CONTROLLER_PUBLIC CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
Public Member Functions inherited from controller_interface::ControllerInterface
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 return_type	init (const std::string &controller_name)
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< std::string >	joint_names_
std::string	interface_name_
realtime_tools::RealtimeBuffer< std::shared_ptr< CmdType > >	rt_command_ptr_
rclcpp::Subscription< CmdType >::SharedPtr	joints_command_subscriber_
std::string	logger_name_
Protected Attributes inherited from controller_interface::ControllerInterface
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

Detailed Description

Forward command controller for a set of joints.

This class forwards the command signal down to a set of joints on the specified interface.

Parameters

joints	Names of the joints to control.
interface_name	Name of the interface to command.

Subscribes to:

• commands (std_msgs::msg::Float64MultiArray) : The commands to apply.

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration forward_command_controller::ForwardCommandController::command_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

on_init()

CallbackReturn forward_command_controller::ForwardCommandController::on_init ( )

overridevirtual

Implements controller_interface::ControllerInterface.

state_interface_configuration()

controller_interface::InterfaceConfiguration forward_command_controller::ForwardCommandController::state_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

update()

controller_interface::return_type forward_command_controller::ForwardCommandController::update ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Implements controller_interface::ControllerInterface.

---

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

• ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
• ros2_controllers/forward_command_controller/src/forward_command_controller.cpp