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ros2_control - galactic
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Public Member Functions | |
CallbackReturn | on_init (const hardware_interface::HardwareComponentInterfaceParams ¶ms) 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. | |
hardware_interface::return_type | read (const rclcpp::Time &time, const rclcpp::Duration &period) override |
hardware_interface::return_type | write (const rclcpp::Time &, const rclcpp::Duration &) override |
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SystemInterface (const SystemInterface &other)=delete | |
SensorInterface copy constructor is actively deleted. | |
SystemInterface (SystemInterface &&other)=default | |
virtual CallbackReturn | on_init (const HardwareInfo &hardware_info) |
Initialization of the hardware interface from data parsed from the robot's URDF. | |
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 return_type | read ()=0 |
Read the current state values from the actuator. | |
virtual return_type | write ()=0 |
Write the current command values to the actuator. | |
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 | |
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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.