Inheritance diagram for controller_manager::ControllerManager:

Collaboration diagram for controller_manager::ControllerManager:

Public Member Functions
CONTROLLER_MANAGER_PUBLIC	ControllerManager (std::unique_ptr< hardware_interface::ResourceManager > resource_manager, std::shared_ptr< rclcpp::Executor > executor, const std::string &manager_node_name="controller_manager", const std::string &namespace_="", const rclcpp::NodeOptions &options=get_cm_node_options())

CONTROLLER_MANAGER_PUBLIC	ControllerManager (std::shared_ptr< rclcpp::Executor > executor, const std::string &manager_node_name="controller_manager", const std::string &namespace_="", const rclcpp::NodeOptions &options=get_cm_node_options())

CONTROLLER_MANAGER_PUBLIC void	robot_description_callback (const std_msgs::msg::String &msg)

CONTROLLER_MANAGER_PUBLIC void	init_resource_manager (const std::string &robot_description)

CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceBaseSharedPtr	load_controller (const std::string &controller_name, const std::string &controller_type)

CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceBaseSharedPtr	load_controller (const std::string &controller_name)
	load_controller loads a controller by name, the type must be defined in the parameter server.

CONTROLLER_MANAGER_PUBLIC controller_interface::return_type	unload_controller (const std::string &controller_name)

CONTROLLER_MANAGER_PUBLIC std::vector< ControllerSpec >	get_loaded_controllers () const

template<typename T , typename std::enable_if< std::is_convertible< T , controller_interface::ControllerInterfaceBase >::value, T >::type * = nullptr>
controller_interface::ControllerInterfaceBaseSharedPtr	add_controller (std::shared_ptr< T > controller, const std::string &controller_name, const std::string &controller_type)

CONTROLLER_MANAGER_PUBLIC controller_interface::return_type	configure_controller (const std::string &controller_name)
	configure_controller Configure controller by name calling their "configure" method.

CONTROLLER_MANAGER_PUBLIC controller_interface::return_type	switch_controller (const std::vector< std::string > &activate_controllers, const std::vector< std::string > &deactivate_controllers, int strictness, bool activate_asap=kWaitForAllResources, const rclcpp::Duration &timeout=rclcpp::Duration::from_nanoseconds(kInfiniteTimeout))
	switch_controller Deactivates some controllers and activates others.

CONTROLLER_MANAGER_PUBLIC void	read (const rclcpp::Time &time, const rclcpp::Duration &period)
	Read values to state interfaces.

CONTROLLER_MANAGER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period)
	Run update on controllers.

CONTROLLER_MANAGER_PUBLIC void	write (const rclcpp::Time &time, const rclcpp::Duration &period)
	Write values from command interfaces.

CONTROLLER_MANAGER_PUBLIC unsigned int	get_update_rate () const
	Deterministic (real-time safe) callback group, e.g., update function.

Static Public Attributes
static constexpr bool	kWaitForAllResources = false

static constexpr auto	kInfiniteTimeout = 0

Protected Member Functions
CONTROLLER_MANAGER_PUBLIC void	init_services ()

CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceBaseSharedPtr	add_controller_impl (const ControllerSpec &controller)

CONTROLLER_MANAGER_PUBLIC void	manage_switch ()

CONTROLLER_MANAGER_PUBLIC void	deactivate_controllers (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_deactivate)
	Deactivate chosen controllers from real-time controller list.

CONTROLLER_MANAGER_PUBLIC void	switch_chained_mode (const std::vector< std::string > &chained_mode_switch_list, bool to_chained_mode)

CONTROLLER_MANAGER_PUBLIC void	activate_controllers (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_activate)
	Activate chosen controllers from real-time controller list.

CONTROLLER_MANAGER_PUBLIC void	activate_controllers_asap (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_activate)
	Activate chosen controllers from real-time controller list.

CONTROLLER_MANAGER_PUBLIC void	list_controllers_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllers::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllers::Response > response)

CONTROLLER_MANAGER_PUBLIC void	list_hardware_interfaces_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Response > response)

CONTROLLER_MANAGER_PUBLIC void	load_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::LoadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::LoadController::Response > response)

CONTROLLER_MANAGER_PUBLIC void	configure_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Request > request, std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Response > response)

CONTROLLER_MANAGER_PUBLIC void	reload_controller_libraries_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Request > request, std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Response > response)

CONTROLLER_MANAGER_PUBLIC void	switch_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::SwitchController::Request > request, std::shared_ptr< controller_manager_msgs::srv::SwitchController::Response > response)

CONTROLLER_MANAGER_PUBLIC void	unload_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::UnloadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::UnloadController::Response > response)

CONTROLLER_MANAGER_PUBLIC void	list_controller_types_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Response > response)

CONTROLLER_MANAGER_PUBLIC void	list_hardware_components_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListHardwareComponents::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListHardwareComponents::Response > response)

CONTROLLER_MANAGER_PUBLIC void	set_hardware_component_state_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::SetHardwareComponentState::Request > request, std::shared_ptr< controller_manager_msgs::srv::SetHardwareComponentState::Response > response)

Protected Attributes
unsigned int	update_loop_counter_ = 0

unsigned int	update_rate_ = 100

std::vector< std::vector< std::string > >	chained_controllers_configuration_

std::unique_ptr< hardware_interface::ResourceManager >	resource_manager_

Member Function Documentation

◆ activate_controllers()

void controller_manager::ControllerManager::activate_controllers	(	const std::vector< ControllerSpec > &	rt_controller_list,
		const std::vector< std::string >	controllers_to_activate
	)

protected

Activate chosen controllers from real-time controller list.

Activate controllers with names controllers_to_activate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

Parameters

[in]	rt_controller_list	controllers in the real-time list.
[in]	controllers_to_activate	names of the controller that have to be activated.

◆ activate_controllers_asap()

void controller_manager::ControllerManager::activate_controllers_asap	(	const std::vector< ControllerSpec > &	rt_controller_list,
		const std::vector< std::string >	controllers_to_activate
	)

protected

Activate chosen controllers from real-time controller list.

Activate controllers with names controllers_to_activate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

NOTE: There is currently not difference to activate_controllers method. Check https://github.com/ros-controls/ros2_control/issues/263 for more information.

Parameters

[in]	rt_controller_list	controllers in the real-time list.
[in]	controllers_to_activate	names of the controller that have to be activated.

◆ configure_controller()

controller_interface::return_type controller_manager::ControllerManager::configure_controller ( const std::string & controller_name )

configure_controller Configure controller by name calling their "configure" method.

Parameters

[in] controller_name as a string.

Returns: configure controller response

See also: Documentation in controller_manager_msgs/ConfigureController.srv

◆ deactivate_controllers()

void controller_manager::ControllerManager::deactivate_controllers	(	const std::vector< ControllerSpec > &	rt_controller_list,
		const std::vector< std::string >	controllers_to_deactivate
	)

protected

Deactivate chosen controllers from real-time controller list.

Deactivate controllers with names controllers_to_deactivate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

Parameters

[in]	rt_controller_list	controllers in the real-time list.
[in]	controllers_to_deactivate	names of the controller that have to be deactivated.

◆ get_update_rate()

unsigned int controller_manager::ControllerManager::get_update_rate ( ) const

Deterministic (real-time safe) callback group, e.g., update function.

Deterministic (real-time safe) callback group for the update function. Default behavior is read hardware, update controller and finally write new values to the hardware.

◆ load_controller()

controller_interface::ControllerInterfaceBaseSharedPtr controller_manager::ControllerManager::load_controller ( const std::string & controller_name )

load_controller loads a controller by name, the type must be defined in the parameter server.

Parameters

[in] controller_name as a string.

Returns: controller

See also: Documentation in controller_manager_msgs/LoadController.srv

◆ read()

void controller_manager::ControllerManager::read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

Read values to state interfaces.

Read current values from hardware to state interfaces. 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 period of the last control loop iteration

◆ switch_chained_mode()

void controller_manager::ControllerManager::switch_chained_mode	(	const std::vector< std::string > &	chained_mode_switch_list,
		bool	to_chained_mode
	)

protected

Switch chained mode for all the controllers with respect to the following cases:

a preceding controller is getting activated --> switch controller to chained mode;
all preceding controllers are deactivated --> switch controller from chained mode.

Parameters

[in]	chained_mode_switch_list	list of controller to switch chained mode.
[in]	to_chained_mode	flag if controller should be switched to or from chained mode.

◆ switch_controller()

controller_interface::return_type controller_manager::ControllerManager::switch_controller	(	const std::vector< std::string > &	activate_controllers,
		const std::vector< std::string > &	deactivate_controllers,
		int	strictness,
		bool	activate_asap = `kWaitForAllResources`,
		const rclcpp::Duration &	timeout = `rclcpp::Duration::from_nanoseconds(kInfiniteTimeout)`
	)

switch_controller Deactivates some controllers and activates others.

Parameters

[in]	activate_controllers	is a list of controllers to activate.
[in]	deactivate_controllers	is a list of controllers to deactivate.
[in]	set	level of strictness (BEST_EFFORT or STRICT)

See also: Documentation in controller_manager_msgs/SwitchController.srv

◆ update()

controller_interface::return_type controller_manager::ControllerManager::update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

Run update on controllers.

Call update of all controllers. 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 period of the last control loop iteration

Note: The factor 0.99 is used to avoid the controllers skipping update cycles due to the jitter in the system sleep cycles.

◆ write()

void controller_manager::ControllerManager::write	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

Write values from command interfaces.

Write values from command interface into hardware. 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 period of the last control loop iteration

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

ros2_control/controller_manager/include/controller_manager/controller_manager.hpp
ros2_control/controller_manager/src/controller_manager.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ activate_controllers()

◆ activate_controllers_asap()

◆ configure_controller()

◆ deactivate_controllers()

◆ get_update_rate()

◆ load_controller()

◆ read()

◆ switch_chained_mode()

◆ switch_controller()

◆ update()

◆ write()