joint_trajectory_controller::JointTrajectoryController Class Reference

Inheritance diagram for joint_trajectory_controller::JointTrajectoryController:

Collaboration diagram for joint_trajectory_controller::JointTrajectoryController:

Public Member Functions
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	command_interface_configuration This controller requires the position command interfaces for the controlled joints
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	command_interface_configuration This controller requires the position and velocity state interfaces for the controlled joints
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC CallbackReturn	on_init () override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC CallbackReturn	on_shutdown (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 Types
template<typename T >
using	InterfaceReferences = std::vector< std::vector< std::reference_wrapper< T > > >
using	ControllerStateMsg = control_msgs::msg::JointTrajectoryControllerState
using	StatePublisher = realtime_tools::RealtimePublisher< ControllerStateMsg >
using	StatePublisherPtr = std::unique_ptr< StatePublisher >
using	FollowJTrajAction = control_msgs::action::FollowJointTrajectory
using	RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< FollowJTrajAction >
using	RealtimeGoalHandlePtr = std::shared_ptr< RealtimeGoalHandle >
using	RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer< RealtimeGoalHandlePtr >
using	JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint

Protected Member Functions
JOINT_TRAJECTORY_CONTROLLER_PUBLIC rclcpp_action::GoalResponse	goal_callback (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const FollowJTrajAction::Goal > goal)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC rclcpp_action::CancelResponse	cancel_callback (const std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJTrajAction > > goal_handle)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	feedback_setup_callback (std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJTrajAction > > goal_handle)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	fill_partial_goal (std::shared_ptr< trajectory_msgs::msg::JointTrajectory > trajectory_msg) const
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	sort_to_local_joint_order (std::shared_ptr< trajectory_msgs::msg::JointTrajectory > trajectory_msg)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool	validate_trajectory_msg (const trajectory_msgs::msg::JointTrajectory &trajectory) const
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	add_new_trajectory_msg (const std::shared_ptr< trajectory_msgs::msg::JointTrajectory > &traj_msg)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool	validate_trajectory_point_field (size_t joint_names_size, const std::vector< double > &vector_field, const std::string &string_for_vector_field, size_t i, bool allow_empty) const
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	preempt_active_goal ()
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	set_hold_position ()
JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool	reset ()
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	publish_state (const JointTrajectoryPoint &desired_state, const JointTrajectoryPoint &current_state, const JointTrajectoryPoint &state_error)
void	read_state_from_hardware (JointTrajectoryPoint &state)
bool	read_state_from_command_interfaces (JointTrajectoryPoint &state)

Protected Attributes
std::vector< std::string >	joint_names_
std::vector< std::string >	command_interface_types_
std::vector< std::string >	state_interface_types_
const std::vector< std::string >	allowed_interface_types_
bool	open_loop_control_ = false
trajectory_msgs::msg::JointTrajectoryPoint	last_commanded_state_
InterfaceReferences< hardware_interface::LoanedCommandInterface >	joint_command_interface_
InterfaceReferences< hardware_interface::LoanedStateInterface >	joint_state_interface_
bool	has_velocity_state_interface_ = false
bool	has_acceleration_state_interface_ = false
bool	has_position_command_interface_ = false
bool	has_velocity_command_interface_ = false
bool	has_acceleration_command_interface_ = false
bool	use_closed_loop_pid_adapter = false
	If true, a velocity feedforward term plus corrective PID term is used.
bool	subscriber_is_active_ = false
rclcpp::Subscription< trajectory_msgs::msg::JointTrajectory >::SharedPtr	joint_command_subscriber_
std::shared_ptr< Trajectory > *	traj_point_active_ptr_ = nullptr
std::shared_ptr< Trajectory >	traj_external_point_ptr_ = nullptr
std::shared_ptr< Trajectory >	traj_home_point_ptr_ = nullptr
std::shared_ptr< trajectory_msgs::msg::JointTrajectory >	traj_msg_home_ptr_ = nullptr
realtime_tools::RealtimeBuffer< std::shared_ptr< trajectory_msgs::msg::JointTrajectory > >	traj_msg_external_point_ptr_
bool	is_halted_ = true
rclcpp::Publisher< ControllerStateMsg >::SharedPtr	publisher_
StatePublisherPtr	state_publisher_
rclcpp::Duration	state_publisher_period_ = rclcpp::Duration(20ms)
rclcpp::Time	last_state_publish_time_
rclcpp_action::Server< FollowJTrajAction >::SharedPtr	action_server_
bool	allow_partial_joints_goal_ = false
RealtimeGoalHandleBuffer	rt_active_goal_
	Currently active action goal, if any.
rclcpp::TimerBase::SharedPtr	goal_handle_timer_
rclcpp::Duration	action_monitor_period_ = rclcpp::Duration(50ms)
SegmentTolerances	default_tolerances_
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

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration joint_trajectory_controller::JointTrajectoryController::command_interface_configuration ( ) const

overridevirtual

command_interface_configuration This controller requires the position command interfaces for the controlled joints

Implements controller_interface::ControllerInterface.

on_init()

CallbackReturn joint_trajectory_controller::JointTrajectoryController::on_init ( )

overridevirtual

Implements controller_interface::ControllerInterface.

state_interface_configuration()

controller_interface::InterfaceConfiguration joint_trajectory_controller::JointTrajectoryController::state_interface_configuration ( ) const

overridevirtual

command_interface_configuration This controller requires the position and velocity state interfaces for the controlled joints

Implements controller_interface::ControllerInterface.

update()

controller_interface::return_type joint_trajectory_controller::JointTrajectoryController::update ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Implements controller_interface::ControllerInterface.

Member Data Documentation

allowed_interface_types_

const std::vector<std::string> joint_trajectory_controller::JointTrajectoryController::allowed_interface_types_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION,
    hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION,
    hardware_interface::HW_IF_EFFORT,
  }

joint_command_subscriber_

rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr joint_trajectory_controller::JointTrajectoryController::joint_command_subscriber_

protected

Initial value:

=
    nullptr

open_loop_control_

bool joint_trajectory_controller::JointTrajectoryController::open_loop_control_ = false

protected

Run he controller in open-loop, i.e., read hardware states only when starting controller. This is useful when robot is not exactly following the commanded trajectory.

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

• ros2_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
• ros2_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp