Inheritance diagram for gazebo_ros2_control::GazeboSystem:

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Collaboration diagram for gazebo_ros2_control::GazeboSystem:

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Public Member Functions
CallbackReturn	on_init (const hardware_interface::HardwareInfo &system_info) override
	Initialization of the hardware interface from data parsed from the robot's URDF. More...

std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this hardware interface. More...

std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this hardware interface. More...

CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

hardware_interface::return_type	perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override

hardware_interface::return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Read the current state values from the actuator. More...

hardware_interface::return_type	write (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Write the current command values to the actuator. More...

bool	initSim (rclcpp::Node::SharedPtr &model_nh, gazebo::physics::ModelPtr parent_model, const hardware_interface::HardwareInfo &hardware_info, sdf::ElementPtr sdf) override
	Initialize the system interface param[in] model_nh pointer to the ros2 node param[in] parent_model pointer to the model param[in] control_hardware vector filled with information about robot's control resources param[in] sdf pointer to the SDF.

Public Member Functions inherited from hardware_interface::SystemInterface
	SystemInterface (const SystemInterface &other)=delete
	SystemInterface copy constructor is actively deleted. More...

	SystemInterface (SystemInterface &&other)=default

virtual return_type	prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
	Prepare for a new command interface switch. More...

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
Public Types inherited from gazebo_ros2_control::GazeboSystemInterface
enum	ControlMethod_ { NONE = 0 , POSITION = (1 << 0) , VELOCITY = (1 << 1) , EFFORT = (1 << 2) , VELOCITY_PID = (1 << 3) , POSITION_PID = (1 << 4) }

typedef SafeEnum< enum ControlMethod_ >	ControlMethod

Protected Attributes inherited from gazebo_ros2_control::GazeboSystemInterface
rclcpp::Node::SharedPtr	nh_

Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_

rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

◆ export_command_interfaces()

std::vector< hardware_interface::CommandInterface > gazebo_ros2_control::GazeboSystem::export_command_interfaces ( )

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.

Returns: vector of command interfaces

Implements hardware_interface::SystemInterface.

◆ export_state_interfaces()

std::vector< hardware_interface::StateInterface > gazebo_ros2_control::GazeboSystem::export_state_interfaces ( )

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.

Returns: vector of state interfaces

Implements hardware_interface::SystemInterface.

◆ on_init()

CallbackReturn gazebo_ros2_control::GazeboSystem::on_init ( const hardware_interface::HardwareInfo & hardware_info )

overridevirtual

Initialization of the hardware interface from data parsed from the robot's URDF.

Parameters

[in] hardware_info structure with data from URDF.

Returns: CallbackReturn::SUCCESS if required data are provided and can be parsed.; CallbackReturn::ERROR if any error happens or data are missing.

Reimplemented from hardware_interface::SystemInterface.

◆ perform_command_mode_switch()

hardware_interface::return_type gazebo_ros2_control::GazeboSystem::perform_command_mode_switch	(	const std::vector< std::string > &	,
		const std::vector< std::string > &
	)

overridevirtual

Perform the mode-switching for the new command interface combination.

Note: This is part of the realtime update loop, and should be fast.; All starting and stopping interface keys are passed to all components, so the function should return return_type::OK by default when given interface keys not relevant for this component.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfaces stopping.

Returns: return_type::OK if the new command interface combination can be switched to, or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented from hardware_interface::SystemInterface.

◆ read()

hardware_interface::return_type gazebo_ros2_control::GazeboSystem::read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

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.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ write()

hardware_interface::return_type gazebo_ros2_control::GazeboSystem::write	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Write the current command values to the actuator.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

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

gazebo_ros2_control/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp
gazebo_ros2_control/gazebo_ros2_control/src/gazebo_system.cpp

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ export_command_interfaces()

◆ export_state_interfaces()

◆ on_init()

◆ perform_command_mode_switch()

◆ read()

◆ write()