joint_state_broadcaster::JointStateBroadcaster Class Reference

Joint State Broadcaster for all or some state in a ros2_control system. More...

#include <joint_state_broadcaster.hpp>

Inheritance diagram for joint_state_broadcaster::JointStateBroadcaster:

Collaboration diagram for joint_state_broadcaster::JointStateBroadcaster:

Public Member Functions
JOINT_STATE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
JOINT_STATE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
JOINT_STATE_BROADCASTER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
JOINT_STATE_BROADCASTER_PUBLIC CallbackReturn	on_init () override
JOINT_STATE_BROADCASTER_PUBLIC CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
JOINT_STATE_BROADCASTER_PUBLIC CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
JOINT_STATE_BROADCASTER_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

Protected Member Functions
bool	init_joint_data ()
void	init_joint_state_msg ()
void	init_dynamic_joint_state_msg ()
bool	use_all_available_interfaces () const

Protected Attributes
bool	use_local_topics_
std::vector< std::string >	joints_
std::vector< std::string >	interfaces_
std::unordered_map< std::string, std::string >	map_interface_to_joint_state_
std::vector< std::string >	joint_names_
std::shared_ptr< rclcpp::Publisher< sensor_msgs::msg::JointState > >	joint_state_publisher_
std::shared_ptr< realtime_tools::RealtimePublisher< sensor_msgs::msg::JointState > >	realtime_joint_state_publisher_
std::unordered_map< std::string, std::unordered_map< std::string, double > >	name_if_value_mapping_
std::shared_ptr< rclcpp::Publisher< control_msgs::msg::DynamicJointState > >	dynamic_joint_state_publisher_
std::shared_ptr< realtime_tools::RealtimePublisher< control_msgs::msg::DynamicJointState > >	realtime_dynamic_joint_state_publisher_
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

Joint State Broadcaster for all or some state in a ros2_control system.

JointStateBroadcaster publishes state interfaces from ros2_control as ROS messages. There is a possibility to publish all available states (typical use), or only specific ones. The latter is, for example, used when hardware provides multiple measurement sources for some of its states, e.g., position. It is possible to define a mapping of measurements from different sources stored in custom interfaces to standard dynamic names in JointState message. If "joints" or "interfaces" parameter is empty, all available states are published.

Parameters

use_local_topics	Flag to publish topics in local namespace.
joints	Names of the joints to publish.
interfaces	Names of interfaces to publish.
map_interface_to_joint_state.{HW_IF_POSITION|HW_IF_VELOCITY|HW_IF_EFFORT}	mapping between custom interface names and standard names in sensor_msgs::msg::JointState message.

Publishes to:

• joint_states (sensor_msgs::msg::JointState): Joint states related to movement (position, velocity, effort).
• dynamic_joint_states (control_msgs::msg::DynamicJointState): Joint states regardless of its interface type.

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration joint_state_broadcaster::JointStateBroadcaster::command_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

init_joint_state_msg()

void joint_state_broadcaster::JointStateBroadcaster::init_joint_state_msg ( )

protected

Note

joint_state_msg publishes position, velocity and effort for all joints, with at least one of these interfaces, the rest are omitted from this message

on_init()

CallbackReturn joint_state_broadcaster::JointStateBroadcaster::on_init ( )

overridevirtual

Implements controller_interface::ControllerInterface.

state_interface_configuration()

controller_interface::InterfaceConfiguration joint_state_broadcaster::JointStateBroadcaster::state_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

update()

controller_interface::return_type joint_state_broadcaster::JointStateBroadcaster::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/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
• ros2_controllers/joint_state_broadcaster/src/joint_state_broadcaster.cpp