Inheritance diagram for gazebo_ros2_control::GazeboSystemInterface:

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Collaboration diagram for gazebo_ros2_control::GazeboSystemInterface:

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Public Types
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

Public Member Functions
virtual bool	initSim (rclcpp::Node::SharedPtr &model_nh, gazebo::physics::ModelPtr parent_model, const hardware_interface::HardwareInfo &hardware_info, sdf::ElementPtr sdf)=0
	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.

	SystemInterface (SystemInterface &&other)=default

virtual CallbackReturn	on_init (const HardwareInfo &hardware_info)
	Initialization of the hardware interface from data parsed from the robot's URDF.

virtual std::vector< StateInterface >	export_state_interfaces ()=0
	Exports all state interfaces for this hardware interface.

virtual std::vector< CommandInterface >	export_command_interfaces ()=0
	Exports all command interfaces for this hardware interface.

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

virtual return_type	perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)

virtual return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period)=0
	Read the current state values from the actuator.

virtual return_type	write (const rclcpp::Time &time, const rclcpp::Duration &period)=0
	Write the current command values to the actuator.

virtual std::string	get_name () const
	Get name of the actuator hardware.

const rclcpp_lifecycle::State &	get_state () const
	Get life-cycle state of the actuator hardware.

void	set_state (const rclcpp_lifecycle::State &new_state)
	Set life-cycle state of the actuator hardware.

Protected Attributes
rclcpp::Node::SharedPtr	nh_

Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_

rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

◆ initSim()

virtual bool gazebo_ros2_control::GazeboSystemInterface::initSim	(	rclcpp::Node::SharedPtr &	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const hardware_interface::HardwareInfo &	hardware_info,
		sdf::ElementPtr	sdf
	)

pure virtual

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.

Implemented in gazebo_ros2_control::GazeboSystem.

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

gazebo_ros2_control/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp

Public Types

Public Member Functions

Protected Attributes

Member Function Documentation

◆ initSim()