19 #ifndef ROS2_CONTROL_DEMO_EXAMPLE_4__RRBOT_SYSTEM_WITH_SENSOR_HPP_
20 #define ROS2_CONTROL_DEMO_EXAMPLE_4__RRBOT_SYSTEM_WITH_SENSOR_HPP_
26 #include "hardware_interface/handle.hpp"
27 #include "hardware_interface/hardware_info.hpp"
28 #include "hardware_interface/system_interface.hpp"
29 #include "hardware_interface/types/hardware_interface_return_values.hpp"
30 #include "rclcpp/macros.hpp"
31 #include "rclcpp_lifecycle/state.hpp"
33 namespace ros2_control_demo_example_4
44 const rclcpp_lifecycle::State & previous_state)
override;
51 const rclcpp_lifecycle::State & previous_state)
override;
54 const rclcpp_lifecycle::State & previous_state)
override;
56 hardware_interface::return_type
read(
57 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
59 hardware_interface::return_type
write(
60 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
67 double hw_sensor_change_;
70 std::vector<double> hw_joint_commands_;
71 std::vector<double> hw_joint_states_;
72 std::vector<double> hw_sensor_states_;
Definition: system_interface.hpp:73
Definition: rrbot_system_with_sensor.hpp:36
hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override
Write the current command values to the actuator.
Definition: rrbot_system_with_sensor.cpp:242
std::vector< hardware_interface::StateInterface > export_state_interfaces() override
Exports all state interfaces for this hardware interface.
Definition: rrbot_system_with_sensor.cpp:125
std::vector< hardware_interface::CommandInterface > export_command_interfaces() override
Exports all command interfaces for this hardware interface.
Definition: rrbot_system_with_sensor.cpp:145
hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override
Initialization of the hardware interface from data parsed from the robot's URDF.
Definition: rrbot_system_with_sensor.cpp:32
hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override
Read the current state values from the actuator.
Definition: rrbot_system_with_sensor.cpp:210
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn CallbackReturn
Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.
Definition: actuator_interface.hpp:69
This structure stores information about hardware defined in a robot's URDF.
Definition: hardware_info.hpp:106