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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... | |
CallbackReturn | on_configure (const rclcpp_lifecycle::State &previous_state) override |
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 | write () override |
Write the current command values to the actuator. More... | |
bool | initSim (rclcpp::Node::SharedPtr &model_nh, std::map< std::string, ignition::gazebo::Entity > &joints, const hardware_interface::HardwareInfo &hardware_info, ignition::gazebo::EntityComponentManager &_ecm, int &update_rate) override |
Initialize the system interface param[in] model_nh Pointer to the ros2 node param[in] joints Map with the name of the joint as the key and the value is related with the entity in Gazebo param[in] hardware_info structure with data from URDF. param[in] _ecm Entity-component manager. param[in] update_rate controller update rate. | |
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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 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... | |
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 |
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.