r6bot_hardware.hpp

// Copyright 2023 ros2_control Development Team
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef ROS2_CONTROL_DEMO_EXAMPLE_7__R6BOT_HARDWARE_HPP_
#define ROS2_CONTROL_DEMO_EXAMPLE_7__R6BOT_HARDWARE_HPP_
 
#include "string"
#include "unordered_map"
#include "vector"
 
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
 
using hardware_interface::return_type;
 
namespace ros2_control_demo_example_7
{
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
class HARDWARE_INTERFACE_PUBLIC RobotSystem : public hardware_interface::SystemInterface
{
public:
  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
  return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
  return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
 
protected:
  std::vector<double> joint_position_command_;
  std::vector<double> joint_velocities_command_;
  std::vector<double> joint_position_;
  std::vector<double> joint_velocities_;
  std::vector<double> ft_states_;
  std::vector<double> ft_command_;
 
  std::unordered_map<std::string, std::vector<std::string>> joint_interfaces = {
    {"position", {}}, {"velocity", {}}};
};
 
}  // namespace ros2_control_demo_example_7
 
#endif  // ROS2_CONTROL_DEMO_EXAMPLE_7__R6BOT_HARDWARE_HPP_