15 #ifndef ROS2_CONTROL_DEMO_EXAMPLE_11__CARLIKEBOT_SYSTEM_HPP_
16 #define ROS2_CONTROL_DEMO_EXAMPLE_11__CARLIKEBOT_SYSTEM_HPP_
24 #include "hardware_interface/handle.hpp"
25 #include "hardware_interface/hardware_info.hpp"
26 #include "hardware_interface/system_interface.hpp"
27 #include "hardware_interface/types/hardware_interface_return_values.hpp"
28 #include "rclcpp/clock.hpp"
29 #include "rclcpp/duration.hpp"
30 #include "rclcpp/macros.hpp"
31 #include "rclcpp/time.hpp"
32 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
33 #include "rclcpp_lifecycle/state.hpp"
35 namespace ros2_control_demo_example_11
46 explicit Joint(
const std::string & name) : joint_name(name)
54 std::string joint_name;
71 const rclcpp_lifecycle::State & previous_state)
override;
74 const rclcpp_lifecycle::State & previous_state)
override;
76 hardware_interface::return_type
read(
77 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
79 hardware_interface::return_type
write(
80 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
89 std::map<std::string, Joint> hw_interfaces_;
Definition: system_interface.hpp:73
Definition: carlikebot_system.hpp:59
hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override
Write the current command values to the actuator.
Definition: carlikebot_system.cpp:304
std::vector< hardware_interface::CommandInterface > export_command_interfaces() override
Exports all command interfaces for this hardware interface.
Definition: carlikebot_system.cpp:195
hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override
Read the current state values from the actuator.
Definition: carlikebot_system.cpp:280
std::vector< hardware_interface::StateInterface > export_state_interfaces() override
Exports all state interfaces for this hardware interface.
Definition: carlikebot_system.cpp:164
hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override
Initialization of the hardware interface from data parsed from the robot's URDF.
Definition: carlikebot_system.cpp:29
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn CallbackReturn
Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.
Definition: actuator_interface.hpp:69
This structure stores information about hardware defined in a robot's URDF.
Definition: hardware_info.hpp:106
Definition: carlikebot_system.hpp:38
Definition: carlikebot_system.hpp:45