![]() |
ros2_control - galactic
|
Public Member Functions | |
RCLCPP_SHARED_PTR_DEFINITIONS (RRBotSystemMultiInterfaceHardware) | |
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC CallbackReturn | on_init (const hardware_interface::HardwareInfo &info) override |
Initialization of the hardware interface from data parsed from the robot's URDF. More... | |
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC std::vector< hardware_interface::StateInterface > | export_state_interfaces () override |
Exports all state interfaces for this hardware interface. More... | |
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC std::vector< hardware_interface::CommandInterface > | export_command_interfaces () override |
Exports all command interfaces for this hardware interface. More... | |
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC hardware_interface::return_type | prepare_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override |
Prepare for a new command interface switch. More... | |
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC CallbackReturn | on_activate (const rclcpp_lifecycle::State &previous_state) override |
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC CallbackReturn | on_deactivate (const rclcpp_lifecycle::State &previous_state) override |
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC hardware_interface::return_type | read () override |
Read the current state values from the actuator. More... | |
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC hardware_interface::return_type | write () override |
Write the current command values to the actuator. More... | |
![]() | |
SystemInterface (const SystemInterface &other)=delete | |
SensorInterface copy constructor is actively deleted. More... | |
SystemInterface (SystemInterface &&other)=default | |
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 | |
![]() | |
HardwareInfo | info_ |
rclcpp_lifecycle::State | lifecycle_state_ |
|
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.
|
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.
|
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.
|
overridevirtual |
Prepare for a new command interface switch.
Prepare for any mode-switching required by the new command interface combination.
[in] | start_interfaces | vector of string identifiers for the command interfaces starting. |
[in] | stop_interfaces | vector of string identifiers for the command interfacs stopping. |
Reimplemented from hardware_interface::SystemInterface.
|
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.
|
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.