ign_ros2_control::IgnitionSystem Class Reference

Inheritance diagram for ign_ros2_control::IgnitionSystem:

Collaboration diagram for ign_ros2_control::IgnitionSystem:

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.
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.
std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this hardware interface.
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.
hardware_interface::return_type	write () override
	Write the current command values to the actuator.
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.
Public Member Functions inherited from hardware_interface::SystemInterface
	SystemInterface (const SystemInterface &other)=delete
	SensorInterface copy constructor is actively deleted.
	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.
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.
const rclcpp_lifecycle::State &	get_state () const
	Get life-cycle state of the actuator hardware.
void	set_state (const rclcpp_lifecycle::State &new_state)
	Set life-cycle state of the actuator hardware.

Additional Inherited Members
Public Types inherited from ign_ros2_control::IgnitionSystemInterface
enum	ControlMethod_ { NONE = 0 , POSITION = (1 << 0) , VELOCITY = (1 << 1) , EFFORT = (1 << 2) }
typedef SafeEnum< enum ControlMethod_ >	ControlMethod
Protected Attributes inherited from ign_ros2_control::IgnitionSystemInterface
rclcpp::Node::SharedPtr	nh_
Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_
rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

export_command_interfaces()

std::vector< hardware_interface::CommandInterface > ign_ros2_control::IgnitionSystem::export_command_interfaces ( )

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.

Returns

vector of command interfaces

Implements hardware_interface::SystemInterface.

export_state_interfaces()

std::vector< hardware_interface::StateInterface > ign_ros2_control::IgnitionSystem::export_state_interfaces ( )

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.

Returns

vector of state interfaces

Implements hardware_interface::SystemInterface.

initSim()

bool ign_ros2_control::IgnitionSystem::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  )

overridevirtual

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.

Implements ign_ros2_control::IgnitionSystemInterface.

on_init()

CallbackReturn ign_ros2_control::IgnitionSystem::on_init ( const hardware_interface::HardwareInfo &  hardware_info )

overridevirtual

Initialization of the hardware interface from data parsed from the robot's URDF.

Parameters

[in]

hardware_info

structure with data from URDF.

Returns

CallbackReturn::SUCCESS if required data are provided and can be parsed.

CallbackReturn::ERROR if any error happens or data are missing.

Reimplemented from hardware_interface::SystemInterface.

read()

hardware_interface::return_type ign_ros2_control::IgnitionSystem::read ( )

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.

Returns

return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

write()

hardware_interface::return_type ign_ros2_control::IgnitionSystem::write ( )

overridevirtual

Write the current command values to the actuator.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Returns

return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

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

• gz_ros2_control/ign_ros2_control/include/ign_ros2_control/ign_system.hpp
• gz_ros2_control/ign_ros2_control/src/ign_system.cpp