joint_trajectory_controller::JointTrajectoryController Class Reference

Inheritance diagram for joint_trajectory_controller::JointTrajectoryController:

Collaboration diagram for joint_trajectory_controller::JointTrajectoryController:

Public Member Functions
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces.
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces.
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override
Public Member Functions inherited from controller_interface::ControllerInterface
CONTROLLER_INTERFACE_PUBLIC bool	is_chainable () const final
CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface >	export_reference_interfaces () final
CONTROLLER_INTERFACE_PUBLIC bool	set_chained_mode (bool chained_mode) final
CONTROLLER_INTERFACE_PUBLIC bool	is_in_chained_mode () const final
Public Member Functions inherited from controller_interface::ControllerInterfaceBase
CONTROLLER_INTERFACE_PUBLIC void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)
CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()
virtual CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name, const std::string &namespace_="", const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions() .allow_undeclared_parameters(true) .automatically_declare_parameters_from_overrides(true))
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () const
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_state () const
CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.

Protected Types
template<typename T >
using	InterfaceReferences = std::vector< std::vector< std::reference_wrapper< T > > >
using	PidPtr = std::shared_ptr< control_toolbox::Pid >
using	ControllerStateMsg = control_msgs::msg::JointTrajectoryControllerState
using	StatePublisher = realtime_tools::RealtimePublisher< ControllerStateMsg >
using	StatePublisherPtr = std::unique_ptr< StatePublisher >
using	FollowJTrajAction = control_msgs::action::FollowJointTrajectory
using	RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< FollowJTrajAction >
using	RealtimeGoalHandlePtr = std::shared_ptr< RealtimeGoalHandle >
using	RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer< RealtimeGoalHandlePtr >
using	JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint

Protected Member Functions
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	topic_callback (const std::shared_ptr< trajectory_msgs::msg::JointTrajectory > msg)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC rclcpp_action::GoalResponse	goal_received_callback (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const FollowJTrajAction::Goal > goal)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC rclcpp_action::CancelResponse	goal_cancelled_callback (const std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJTrajAction > > goal_handle)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	goal_accepted_callback (std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJTrajAction > > goal_handle)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	fill_partial_goal (std::shared_ptr< trajectory_msgs::msg::JointTrajectory > trajectory_msg) const
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	sort_to_local_joint_order (std::shared_ptr< trajectory_msgs::msg::JointTrajectory > trajectory_msg)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool	validate_trajectory_msg (const trajectory_msgs::msg::JointTrajectory &trajectory) const
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	add_new_trajectory_msg (const std::shared_ptr< trajectory_msgs::msg::JointTrajectory > &traj_msg)
JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool	validate_trajectory_point_field (size_t joint_names_size, const std::vector< double > &vector_field, const std::string &string_for_vector_field, size_t i, bool allow_empty) const
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	preempt_active_goal ()
JOINT_TRAJECTORY_CONTROLLER_PUBLIC std::shared_ptr< trajectory_msgs::msg::JointTrajectory >	set_hold_position ()
	set the current position with zero velocity and acceleration as new command
JOINT_TRAJECTORY_CONTROLLER_PUBLIC std::shared_ptr< trajectory_msgs::msg::JointTrajectory >	set_success_trajectory_point ()
	set last trajectory point to be repeated at success
JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool	reset ()
JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool	has_active_trajectory () const
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	publish_state (const JointTrajectoryPoint &desired_state, const JointTrajectoryPoint &current_state, const JointTrajectoryPoint &state_error)
void	read_state_from_state_interfaces (JointTrajectoryPoint &state)
bool	read_state_from_command_interfaces (JointTrajectoryPoint &state)
bool	read_commands_from_command_interfaces (JointTrajectoryPoint &commands)
void	query_state_service (const std::shared_ptr< control_msgs::srv::QueryTrajectoryState::Request > request, std::shared_ptr< control_msgs::srv::QueryTrajectoryState::Response > response)

Protected Attributes
const std::vector< std::string >	allowed_interface_types_
trajectory_msgs::msg::JointTrajectoryPoint	state_current_
trajectory_msgs::msg::JointTrajectoryPoint	command_current_
trajectory_msgs::msg::JointTrajectoryPoint	state_desired_
trajectory_msgs::msg::JointTrajectoryPoint	state_error_
size_t	dof_
std::vector< std::string >	command_joint_names_
std::shared_ptr< ParamListener >	param_listener_
Params	params_
trajectory_msgs::msg::JointTrajectoryPoint	last_commanded_state_
interpolation_methods::InterpolationMethod	interpolation_method_
	Specify interpolation method. Default to splines.
InterfaceReferences< hardware_interface::LoanedCommandInterface >	joint_command_interface_
InterfaceReferences< hardware_interface::LoanedStateInterface >	joint_state_interface_
bool	has_position_state_interface_ = false
bool	has_velocity_state_interface_ = false
bool	has_acceleration_state_interface_ = false
bool	has_position_command_interface_ = false
bool	has_velocity_command_interface_ = false
bool	has_acceleration_command_interface_ = false
bool	has_effort_command_interface_ = false
bool	use_closed_loop_pid_adapter_ = false
	If true, a velocity feedforward term plus corrective PID term is used.
std::vector< PidPtr >	pids_
std::vector< double >	ff_velocity_scale_
std::vector< bool >	joints_angle_wraparound_
std::vector< double >	tmp_command_
double	cmd_timeout_
std::atomic< bool >	rt_is_holding_ {false}
std::atomic< bool >	subscriber_is_active_ {false}
rclcpp::Subscription< trajectory_msgs::msg::JointTrajectory >::SharedPtr	joint_command_subscriber_
rclcpp::Service< control_msgs::srv::QueryTrajectoryState >::SharedPtr	query_state_srv_
std::shared_ptr< Trajectory >	traj_external_point_ptr_ = nullptr
realtime_tools::RealtimeBuffer< std::shared_ptr< trajectory_msgs::msg::JointTrajectory > >	traj_msg_external_point_ptr_
std::shared_ptr< trajectory_msgs::msg::JointTrajectory >	hold_position_msg_ptr_ = nullptr
rclcpp::Publisher< ControllerStateMsg >::SharedPtr	publisher_legacy_
StatePublisherPtr	state_publisher_legacy_
rclcpp::Publisher< ControllerStateMsg >::SharedPtr	publisher_
StatePublisherPtr	state_publisher_
rclcpp::Duration	state_publisher_period_ = rclcpp::Duration(20ms)
rclcpp::Time	last_state_publish_time_
rclcpp_action::Server< FollowJTrajAction >::SharedPtr	action_server_
RealtimeGoalHandleBuffer	rt_active_goal_
	Currently active action goal, if any.
std::atomic< bool >	rt_has_pending_goal_ {false}
	Is there a pending action goal?
rclcpp::TimerBase::SharedPtr	goal_handle_timer_
rclcpp::Duration	action_monitor_period_ = rclcpp::Duration(50ms)
SegmentTolerances	default_tolerances_
realtime_tools::RealtimeBuffer< SegmentTolerances >	active_tolerances_
Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_
unsigned int	update_rate_ = 0

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration joint_trajectory_controller::JointTrajectoryController::command_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required command interfaces.

Method used by the controller_manager to get the set of command interfaces used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the command_interfaces_ member.

Returns

configuration of command interfaces.

Implements controller_interface::ControllerInterfaceBase.

on_init()

controller_interface::CallbackReturn joint_trajectory_controller::JointTrajectoryController::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

Implements controller_interface::ControllerInterfaceBase.

read_state_from_command_interfaces()

bool joint_trajectory_controller::JointTrajectoryController::read_state_from_command_interfaces ( JointTrajectoryPoint &  state )

protected

Assign values from the command interfaces as state. This is only possible if command AND state interfaces exist for the same type, therefore needs check for both.

Parameters

[out]

state

to be filled with values from command interfaces.

Returns

true if all interfaces exists and contain non-NaN values, false otherwise.

set_success_trajectory_point()

std::shared_ptr< trajectory_msgs::msg::JointTrajectory > joint_trajectory_controller::JointTrajectoryController::set_success_trajectory_point ( )

protected

set last trajectory point to be repeated at success

no matter if it has nonzero velocity or acceleration

state_interface_configuration()

controller_interface::InterfaceConfiguration joint_trajectory_controller::JointTrajectoryController::state_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required state interfaces.

Method used by the controller_manager to get the set of state interface used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the state_interface_ member.

Returns

configuration of state interfaces.

Implements controller_interface::ControllerInterfaceBase.

update()

controller_interface::return_type joint_trajectory_controller::JointTrajectoryController::update ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Control step update. Command interfaces are updated based on on reference inputs and current states. The method called in the (real-time) control loop.

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 update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ControllerInterfaceBase.

Member Data Documentation

allowed_interface_types_

const std::vector<std::string> joint_trajectory_controller::JointTrajectoryController::allowed_interface_types_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION,
    hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION,
    hardware_interface::HW_IF_EFFORT,
  }

interpolation_method_

interpolation_methods::InterpolationMethod joint_trajectory_controller::JointTrajectoryController::interpolation_method_

protected

Initial value:

{
    interpolation_methods::DEFAULT_INTERPOLATION}

Specify interpolation method. Default to splines.

joint_command_subscriber_

rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr joint_trajectory_controller::JointTrajectoryController::joint_command_subscriber_

protected

Initial value:

=
    nullptr

---

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

• ros2_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
• ros2_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp