19 #ifndef ROS2_CONTROL_DEMO_HARDWARE__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_
20 #define ROS2_CONTROL_DEMO_HARDWARE__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_
26 #include "hardware_interface/handle.hpp"
27 #include "hardware_interface/hardware_info.hpp"
28 #include "hardware_interface/sensor_interface.hpp"
29 #include "hardware_interface/types/hardware_interface_return_values.hpp"
30 #include "rclcpp/macros.hpp"
31 #include "ros2_control_demo_hardware/visibility_control.h"
33 using hardware_interface::return_type;
35 namespace ros2_control_demo_hardware
42 ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
45 ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
48 ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
49 CallbackReturn on_activate(
const rclcpp_lifecycle::State & previous_state)
override;
51 ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
52 CallbackReturn on_deactivate(
const rclcpp_lifecycle::State & previous_state)
override;
54 ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
55 return_type
read()
override;
61 double hw_sensor_change_;
64 std::vector<double> hw_sensor_states_;
Virtual Class to implement when integrating a stand-alone sensor into ros2_control.
Definition: sensor_interface.hpp:67
Definition: external_rrbot_force_torque_sensor.hpp:38
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC return_type read() override
Read the current state values from the actuator.
Definition: external_rrbot_force_torque_sensor.cpp:111
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.
Definition: external_rrbot_force_torque_sensor.cpp:32
ROS2_CONTROL_DEMO_HARDWARE_PUBLIC std::vector< hardware_interface::StateInterface > export_state_interfaces() override
Exports all state interfaces for this hardware interface.
Definition: external_rrbot_force_torque_sensor.cpp:53
This structure stores information about hardware defined in a robot's URDF.
Definition: hardware_info.hpp:101