gripper_action_controller::GripperActionController< HardwareInterface > Class Template Reference

Controller for executing a gripper command action for simple single-dof grippers. More...

#include <gripper_action_controller.hpp>

Inheritance diagram for gripper_action_controller::GripperActionController< HardwareInterface >:

Collaboration diagram for gripper_action_controller::GripperActionController< HardwareInterface >:

Classes
struct	Commands
	Store position and max effort in struct to allow easier realtime buffer usage. More...

Public Member Functions
GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	command_interface_configuration This controller requires the position command interfaces for the controlled joints
GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	command_interface_configuration This controller requires the position and velocity state interfaces for the controlled joints
GRIPPER_ACTION_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
GRIPPER_ACTION_CONTROLLER_PUBLIC CallbackReturn	on_init () override
GRIPPER_ACTION_CONTROLLER_PUBLIC CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
GRIPPER_ACTION_CONTROLLER_PUBLIC CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
GRIPPER_ACTION_CONTROLLER_PUBLIC CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) 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

Public Attributes
realtime_tools::RealtimeBuffer< Commands >	command_
Commands	command_struct_
Commands	command_struct_rt_

Additional Inherited Members
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

template<const char * HardwareInterface>
class gripper_action_controller::GripperActionController< HardwareInterface >

Controller for executing a gripper command action for simple single-dof grippers.

Template Parameters

HardwareInterface

Controller hardware interface. Currently hardware_interface::HW_IF_POSITION and hardware_interface::HW_IF_EFFORT are supported out-of-the-box.

Member Function Documentation

command_interface_configuration()

template<const char * HardwareInterface>

controller_interface::InterfaceConfiguration gripper_action_controller::GripperActionController< HardwareInterface >::command_interface_configuration ( ) const

overridevirtual

command_interface_configuration This controller requires the position command interfaces for the controlled joints

Implements controller_interface::ControllerInterface.

on_init()

template<const char * HardwareInterface>

CallbackReturn gripper_action_controller::GripperActionController< HardwareInterface >::on_init ( )

overridevirtual

Implements controller_interface::ControllerInterface.

state_interface_configuration()

template<const char * HardwareInterface>

controller_interface::InterfaceConfiguration gripper_action_controller::GripperActionController< HardwareInterface >::state_interface_configuration ( ) const

overridevirtual

command_interface_configuration This controller requires the position and velocity state interfaces for the controlled joints

Implements controller_interface::ControllerInterface.

update()

template<const char * HardwareInterface>

controller_interface::return_type gripper_action_controller::GripperActionController< HardwareInterface >::update ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Implements controller_interface::ControllerInterface.

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

• ros2_controllers/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
• ros2_controllers/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp