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ros2_control - galactic
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Public Member Functions | |
CallbackReturn | on_init (const hardware_interface::HardwareInfo &system_info) override |
Initialization of the hardware interface from data parsed from the robot's URDF. More... | |
std::vector< hardware_interface::StateInterface > | export_state_interfaces () override |
Exports all state interfaces for this hardware interface. More... | |
std::vector< hardware_interface::CommandInterface > | export_command_interfaces () override |
Exports all command interfaces for this hardware interface. More... | |
CallbackReturn | on_activate (const rclcpp_lifecycle::State &previous_state) override |
CallbackReturn | on_deactivate (const rclcpp_lifecycle::State &previous_state) override |
hardware_interface::return_type | read () override |
Read the current state values from the actuator. More... | |
hardware_interface::return_type | perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override |
hardware_interface::return_type | write () override |
Write the current command values to the actuator. More... | |
bool | initSim (rclcpp::Node::SharedPtr &model_nh, gazebo::physics::ModelPtr parent_model, const hardware_interface::HardwareInfo &hardware_info, sdf::ElementPtr sdf) override |
Initialize the system interface param[in] model_nh pointer to the ros2 node param[in] parent_model pointer to the model param[in] control_hardware vector filled with information about robot's control resources param[in] sdf pointer to the SDF. | |
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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 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... | |
Additional Inherited Members | |
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enum | ControlMethod_ { NONE = 0 , POSITION = (1 << 0) , VELOCITY = (1 << 1) , EFFORT = (1 << 2) } |
typedef SafeEnum< enum ControlMethod_ > | ControlMethod |
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rclcpp::Node::SharedPtr | nh_ |
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HardwareInfo | info_ |
rclcpp_lifecycle::State | lifecycle_state_ |
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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.
Implements hardware_interface::SystemInterface.
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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.
Implements hardware_interface::SystemInterface.
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overridevirtual |
Initialization of the hardware interface from data parsed from the robot's URDF.
[in] | hardware_info | structure with data from URDF. |
Reimplemented from hardware_interface::SystemInterface.
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overridevirtual |
Perform the mode-switching for the new command interface combination.
[in] | start_interfaces | vector of string identifiers for the command interfaces starting. |
[in] | stop_interfaces | vector of string identifiers for the command interfacs stopping. |
Reimplemented from hardware_interface::SystemInterface.
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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.
Implements hardware_interface::SystemInterface.
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overridevirtual |
Write the current command values to the actuator.
The physical hardware shall be updated with the latest value from the exported command interfaces.
Implements hardware_interface::SystemInterface.