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ros2_control - humble
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ros2_control - humble
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Public Attributes | |
| size_t | n_dof_ |
| Degrees od freedom. | |
| size_t | n_sensors_ |
| Number of sensors. | |
| gazebo::physics::ModelPtr | parent_model_ |
| Gazebo Model Ptr. | |
| rclcpp::Time | last_update_sim_time_ros_ |
| last time the write method was called. | |
| std::vector< std::string > | joint_names_ |
| vector with the joint's names. | |
| std::vector< GazeboSystemInterface::ControlMethod > | joint_control_methods_ |
| vector with the control method defined in the URDF for each joint. | |
| std::vector< bool > | is_joint_actuated_ |
| vector with indication for actuated joints (vs. passive joints) | |
| std::vector< gazebo::physics::JointPtr > | sim_joints_ |
| handles to the joints from within Gazebo | |
| std::vector< double > | joint_position_ |
| vector with the current joint position | |
| std::vector< double > | joint_velocity_ |
| vector with the current joint velocity | |
| std::vector< double > | joint_effort_ |
| vector with the current joint effort | |
| std::vector< double > | joint_position_cmd_ |
| vector with the current cmd joint position | |
| std::vector< double > | joint_velocity_cmd_ |
| vector with the current cmd joint velocity | |
| std::vector< double > | joint_effort_cmd_ |
| vector with the current cmd joint effort | |
| std::vector< control_toolbox::Pid > | vel_pid |
| Joint velocity PID utils. | |
| std::vector< control_toolbox::Pid > | pos_pid |
| Joint position PID utils. | |
| std::vector< bool > | is_pos_pid |
| std::vector< bool > | is_vel_pid |
| std::vector< gazebo::sensors::ImuSensorPtr > | sim_imu_sensors_ |
| handles to the imus from within Gazebo | |
| std::vector< std::array< double, 10 > > | imu_sensor_data_ |
| An array per IMU with 4 orientation, 3 angular velocity and 3 linear acceleration. | |
| std::vector< gazebo::sensors::ForceTorqueSensorPtr > | sim_ft_sensors_ |
| handles to the FT sensors from within Gazebo | |
| std::vector< std::array< double, 6 > > | ft_sensor_data_ |
| An array per FT sensor for 3D force and torquee. | |
| std::vector< hardware_interface::StateInterface > | state_interfaces_ |
| state interfaces that will be exported to the Resource Manager | |
| std::vector< hardware_interface::CommandInterface > | command_interfaces_ |
| command interfaces that will be exported to the Resource Manager | |
| std::vector< MimicJoint > | mimic_joints_ |
| mapping of mimicked joints to index of joint they mimic | |
| bool | hold_joints_ = true |
| GazeboSystemInterface::ControlMethod_ | position_control_method_ |
| GazeboSystemInterface::ControlMethod_ | velocity_control_method_ |
| GazeboSystemInterface::ControlMethod_ gazebo_ros2_control::GazeboSystemPrivate::position_control_method_ |
| GazeboSystemInterface::ControlMethod_ gazebo_ros2_control::GazeboSystemPrivate::velocity_control_method_ |
1.9.8