velocity_controllers::JointGroupVelocityController Class Reference

Forward command controller for a set of velocity controlled joints (linear or angular). More...

#include <joint_group_velocity_controller.hpp>

Inheritance diagram for velocity_controllers::JointGroupVelocityController:

Collaboration diagram for velocity_controllers::JointGroupVelocityController:

Public Member Functions
VELOCITY_CONTROLLERS_PUBLIC CallbackReturn	on_init () override
VELOCITY_CONTROLLERS_PUBLIC CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
Public Member Functions inherited from forward_command_controller::ForwardCommandController
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
FORWARD_COMMAND_CONTROLLER_PUBLIC CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
FORWARD_COMMAND_CONTROLLER_PUBLIC CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
FORWARD_COMMAND_CONTROLLER_PUBLIC CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) 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

Additional Inherited Members
Protected Attributes inherited from forward_command_controller::ForwardCommandController
std::vector< std::string >	joint_names_
std::string	interface_name_
realtime_tools::RealtimeBuffer< std::shared_ptr< CmdType > >	rt_command_ptr_
rclcpp::Subscription< CmdType >::SharedPtr	joints_command_subscriber_
std::string	logger_name_
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

Forward command controller for a set of velocity controlled joints (linear or angular).

This class forwards the commanded velocities down to a set of joints.

Parameters

joints

Names of the joints to control.

Subscribes to:

• command (std_msgs::msg::Float64MultiArray) : The velocity commands to apply.

Member Function Documentation

on_init()

CallbackReturn velocity_controllers::JointGroupVelocityController::on_init ( )

overridevirtual

Reimplemented from forward_command_controller::ForwardCommandController.

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

• ros2_controllers/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp
• ros2_controllers/velocity_controllers/src/joint_group_velocity_controller.cpp