Public Member Functions
	ResourceManager ()
	Default constructor for the Resource Manager.

	ResourceManager (const std::string &urdf, bool validate_interfaces=true)
	Constructor for the Resource Manager. More...

	ResourceManager (const ResourceManager &)=delete

void	load_urdf (const std::string &urdf, bool validate_interfaces=true)
	Load resources from on a given URDF. More...

LoanedStateInterface	claim_state_interface (const std::string &key)
	Claim a state interface given its key. More...

std::vector< std::string >	state_interface_keys () const
	Returns all registered state interfaces keys. More...

bool	state_interface_exists (const std::string &key) const
	Checks whether a state interface is registered under the given key. More...

bool	command_interface_is_claimed (const std::string &key) const
	Checks whether a command interface is already claimed. More...

LoanedCommandInterface	claim_command_interface (const std::string &key)
	Claim a command interface given its key. More...

std::vector< std::string >	command_interface_keys () const
	Returns all registered command interfaces keys. More...

bool	command_interface_exists (const std::string &key) const
	Checks whether a command interface is registered under the given key. More...

size_t	actuator_components_size () const
	Return the number size_t of loaded actuator components. More...

void	import_component (std::unique_ptr< ActuatorInterface > actuator)
	Import a hardware component which is not listed in the URDF. More...

size_t	sensor_components_size () const
	Return the number of loaded sensor components. More...

void	import_component (std::unique_ptr< SensorInterface > sensor)
	Import a hardware component which is not listed in the URDF. More...

size_t	system_components_size () const
	Return the number of loaded system components. More...

void	import_component (std::unique_ptr< SystemInterface > system)
	Import a hardware component which is not listed in the URDF. More...

void	import_component (std::unique_ptr< ActuatorInterface > actuator, const HardwareInfo &hardware_info)
	Import a hardware component which is not listed in the URDF. More...

void	import_component (std::unique_ptr< SensorInterface > sensor, const HardwareInfo &hardware_info)
	Import a hardware component which is not listed in the URDF. More...

void	import_component (std::unique_ptr< SystemInterface > system, const HardwareInfo &hardware_info)
	Import a hardware component which is not listed in the URDF. More...

std::unordered_map< std::string, rclcpp_lifecycle::State >	get_components_states ()
	Return status for all components. More...

bool	prepare_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)
	Prepare the hardware components for a new command interface mode. More...

bool	perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)
	Notify the hardware components that realtime hardware mode switching should occur. More...

void	start_components ()
	Start all loaded hardware components.

void	stop_components ()
	Stops all loaded hardware components.

void	read ()
	Reads all loaded hardware components.

void	write ()
	Write all loaded hardware components.

Constructor & Destructor Documentation

◆ ResourceManager()

hardware_interface::ResourceManager::ResourceManager	(	const std::string &	urdf,
		bool	validate_interfaces = `true`
	)

explicit

Constructor for the Resource Manager.

The implementation loads the specified urdf and initializes the hardware components listed within as well as populate their respective state and command interfaces.

If the interfaces ought to be validated, the constructor throws an exception in case the URDF lists interfaces which are not available.

Parameters

[in]	urdf	string containing the URDF.
[in]	validate_interfaces	boolean argument indicating whether the exported interfaces ought to be validated. Defaults to true.

Member Function Documentation

◆ actuator_components_size()

size_t hardware_interface::ResourceManager::actuator_components_size ( ) const

Return the number size_t of loaded actuator components.

Returns: number of actuator components.

◆ claim_command_interface()

LoanedCommandInterface hardware_interface::ResourceManager::claim_command_interface ( const std::string & key )

Claim a command interface given its key.

The resource is claimed as long as being in scope. Once the resource is going out of scope, the destructor returns and thus frees the resource to claimed by others.

Parameters

[in] key String identifier which command interface to claim

Returns: command interface

◆ claim_state_interface()

LoanedStateInterface hardware_interface::ResourceManager::claim_state_interface ( const std::string & key )

Claim a state interface given its key.

The resource is claimed as long as being in scope. Once the resource is going out of scope, the destructor returns.

Parameters

[in] key String identifier which state interface to claim

Returns: state interface

◆ command_interface_exists()

bool hardware_interface::ResourceManager::command_interface_exists ( const std::string & key ) const

Checks whether a command interface is registered under the given key.

Parameters

[in] key string identifying the interface to check.

Returns: true if interface exist, false otherwise.

◆ command_interface_is_claimed()

bool hardware_interface::ResourceManager::command_interface_is_claimed ( const std::string & key ) const

Checks whether a command interface is already claimed.

Any command interface can only be claimed by a single instance.

Note: the equivalent function does not exist for state interfaces. These are solely read-only and can thus be used by multiple instances.

Parameters

[in] key string identifying the interface to check.

Returns: true if interface is already claimed, false if available.

◆ command_interface_keys()

std::vector< std::string > hardware_interface::ResourceManager::command_interface_keys ( ) const

Returns all registered command interfaces keys.

The keys are collected from each loaded hardware component.

Returns: vector of strings, containing all registered keys.

◆ get_components_states()

std::unordered_map< std::string, rclcpp_lifecycle::State > hardware_interface::ResourceManager::get_components_states ( )

Return status for all components.

Returns: map of hardware names and their states

◆ import_component() [1/6]

void hardware_interface::ResourceManager::import_component ( std::unique_ptr< ActuatorInterface > actuator )

Import a hardware component which is not listed in the URDF.

Components which are initialized outside a URDF can be added post initialization.

Note: this might invalidate existing state and command interfaces and should thus not be called when a controller is running.; given that no hardware_info is available, the component has to be configured externally and prior to the call to import.

Parameters

[in] actuator pointer to the actuator interface.

◆ import_component() [2/6]

void hardware_interface::ResourceManager::import_component	(	std::unique_ptr< ActuatorInterface >	actuator,
		const HardwareInfo &	hardware_info
	)

Import a hardware component which is not listed in the URDF.

Components which are initialized outside a URDF can be added post initialization. Nevertheless, there should still be HardwareInfo available for this component, either parsed from a URDF string (easiest) or filled manually.

Note: this might invalidate existing state and command interfaces and should thus not be called when a controller is running.; given that no hardware_info is available, the component has to be configured externally and prior to the call to import.

Parameters

[in]	actuator	pointer to the actuator interface.
[in]

◆ import_component() [3/6]

void hardware_interface::ResourceManager::import_component ( std::unique_ptr< SensorInterface > sensor )

Import a hardware component which is not listed in the URDF.

Components which are initialized outside a URDF can be added post initialization.

Note: this might invalidate existing state and command interfaces and should thus not be called when a controller is running.; given that no hardware_info is available, the component has to be configured externally and prior to the call to import.

Parameters

[in] sensor pointer to the sensor interface.

◆ import_component() [4/6]

void hardware_interface::ResourceManager::import_component	(	std::unique_ptr< SensorInterface >	sensor,
		const HardwareInfo &	hardware_info
	)

Import a hardware component which is not listed in the URDF.

Components which are initialized outside a URDF can be added post initialization. Nevertheless, there should still be HardwareInfo available for this component, either parsed from a URDF string (easiest) or filled manually.

Note: this might invalidate existing state and command interfaces and should thus not be called when a controller is running.; given that no hardware_info is available, the component has to be configured externally and prior to the call to import.

Parameters

[in]	sensor	pointer to the sensor interface.
[in]	hardware_info	hardware info

◆ import_component() [5/6]

void hardware_interface::ResourceManager::import_component ( std::unique_ptr< SystemInterface > system )

Import a hardware component which is not listed in the URDF.

Components which are initialized outside a URDF can be added post initialization.

Note: this might invalidate existing state and command interfaces and should thus not be called when a controller is running.; given that no hardware_info is available, the component has to be configured externally and prior to the call to import.

Parameters

[in] system pointer to the system interface.

◆ import_component() [6/6]

void hardware_interface::ResourceManager::import_component	(	std::unique_ptr< SystemInterface >	system,
		const HardwareInfo &	hardware_info
	)

Import a hardware component which is not listed in the URDF.

Components which are initialized outside a URDF can be added post initialization. Nevertheless, there should still be HardwareInfo available for this component, either parsed from a URDF string (easiest) or filled manually.

Note: this might invalidate existing state and command interfaces and should thus not be called when a controller is running.; given that no hardware_info is available, the component has to be configured externally and prior to the call to import.

Parameters

[in]	system	pointer to the system interface.
[in]	hardware_info	hardware info

◆ load_urdf()

void hardware_interface::ResourceManager::load_urdf	(	const std::string &	urdf,
		bool	validate_interfaces = `true`
	)

Load resources from on a given URDF.

The resource manager can be post initialized with a given URDF. This is mainly used in conjunction with the default constructor in which the URDF might not be present at first initialization.

Parameters

[in]	urdf	string containing the URDF.
[in]	validate_interfaces	boolean argument indicating whether the exported interfaces ought to be validated. Defaults to true.

◆ perform_command_mode_switch()

bool hardware_interface::ResourceManager::perform_command_mode_switch	(	const std::vector< std::string > &	start_interfaces,
		const std::vector< std::string > &	stop_interfaces
	)

Notify the hardware components that realtime hardware mode switching should occur.

Hardware components are asked to perform the command interface mode switching.

Note: this is intended for mode-switching when a hardware interface needs to change control mode depending on which command interface is claimed.; this is for realtime switching of the command interface.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfacs stopping.

Returns: true if switch is performed, false if a component rejects switching.

◆ prepare_command_mode_switch()

bool hardware_interface::ResourceManager::prepare_command_mode_switch	(	const std::vector< std::string > &	start_interfaces,
		const std::vector< std::string > &	stop_interfaces
	)

Prepare the hardware components for a new command interface mode.

Hardware components are asked to prepare a new command interface claim.

Note: this is intended for mode-switching when a hardware interface needs to change control mode depending on which command interface is claimed.; this is for non-realtime preparing for and accepting new command resource combinations.; accept_command_resource_claim is called on all actuators and system components and hardware interfaces should return hardware_interface::return_type::SUCCESS by default

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfaces stopping.

Returns: true if switch can be prepared, false if a component rejects switch request.

◆ sensor_components_size()

size_t hardware_interface::ResourceManager::sensor_components_size ( ) const

Return the number of loaded sensor components.

Returns: number of sensor components.

◆ state_interface_exists()

bool hardware_interface::ResourceManager::state_interface_exists ( const std::string & key ) const

Checks whether a state interface is registered under the given key.

Returns: true if interface exist, false otherwise.

◆ state_interface_keys()

std::vector< std::string > hardware_interface::ResourceManager::state_interface_keys ( ) const

Returns all registered state interfaces keys.

The keys are collected from each loaded hardware component.

Returns: Vector of strings, containing all registered keys.

◆ system_components_size()

size_t hardware_interface::ResourceManager::system_components_size ( ) const

Return the number of loaded system components.

Returns: size_t number of system components.

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

ros2_control/hardware_interface/include/hardware_interface/resource_manager.hpp
ros2_control/hardware_interface/src/resource_manager.cpp

Public Member Functions

Constructor & Destructor Documentation

◆ ResourceManager()

Member Function Documentation

◆ actuator_components_size()

◆ claim_command_interface()

◆ claim_state_interface()

◆ command_interface_exists()

◆ command_interface_is_claimed()

◆ command_interface_keys()

◆ get_components_states()

◆ import_component() [1/6]

◆ import_component() [2/6]

◆ import_component() [3/6]

◆ import_component() [4/6]

◆ import_component() [5/6]

◆ import_component() [6/6]

◆ load_urdf()

◆ perform_command_mode_switch()

◆ prepare_command_mode_switch()

◆ sensor_components_size()

◆ state_interface_exists()

◆ state_interface_keys()

◆ system_components_size()