Forward command controller for a set of velocity controlled joints (linear or angular). More...

#include <joint_group_velocity_controller.hpp>

Inheritance diagram for velocity_controllers::JointGroupVelocityController:

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Collaboration diagram for velocity_controllers::JointGroupVelocityController:

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Public Member Functions
VELOCITY_CONTROLLERS_PUBLIC controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.

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

Public Member Functions inherited from forward_command_controller::ForwardControllersBase
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces.

FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces.

FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override

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

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

FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) 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.

Additional Inherited Members
Protected Member Functions inherited from forward_command_controller::ForwardCommandController
void	declare_parameters () override

controller_interface::CallbackReturn	read_parameters () override

Protected Attributes inherited from forward_command_controller::ForwardCommandController
std::shared_ptr< ParamListener >	param_listener_

Params	params_

Protected Attributes inherited from forward_command_controller::ForwardControllersBase
std::vector< std::string >	joint_names_

std::string	interface_name_

std::vector< std::string >	command_interface_types_

realtime_tools::RealtimeBuffer< std::shared_ptr< CmdType > >	rt_command_ptr_

rclcpp::Subscription< CmdType >::SharedPtr	joints_command_subscriber_

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

Detailed Description

Forward command controller for a set of velocity controlled joints (linear or angular).

This class forwards the commanded velocities down to a set of joints.

Parameters

joints Names of the joints to control.

Subscribes to:

command (std_msgs::msg::Float64MultiArray) : The velocity commands to apply.

Member Function Documentation

◆ on_init()

controller_interface::CallbackReturn velocity_controllers::JointGroupVelocityController::on_init ( )

overridevirtual

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

Reimplemented from forward_command_controller::ForwardControllersBase.

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

ros2_controllers/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp
ros2_controllers/velocity_controllers/src/joint_group_velocity_controller.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ on_init()