Inheritance diagram for gz_ros2_control::GazeboSimSystemInterface:

[legend]

Collaboration diagram for gz_ros2_control::GazeboSimSystemInterface:

[legend]

Public Types
enum	ControlMethod_ { NONE = 0 , POSITION = (1 << 0) , VELOCITY = (1 << 1) , EFFORT = (1 << 2) }

typedef SafeEnum< enum ControlMethod_ >	ControlMethod

Public Member Functions
virtual bool	initSim (rclcpp::Node::SharedPtr &model_nh, std::map< std::string, sim::Entity > &joints, const hardware_interface::HardwareInfo &hardware_info, sim::EntityComponentManager &_ecm, int &update_rate)=0
	Initialize the system interface param[in] model_nh Pointer to the ros2 node param[in] joints Map with the name of the joint as the key and the value is related with the entity in Gazebo param[in] hardware_info structure with data from URDF. param[in] _ecm Entity-component manager. param[in] update_rate controller update rate.

Public Member Functions inherited from hardware_interface::SystemInterface
	SystemInterface (const SystemInterface &other)=delete
	SystemInterface copy constructor is actively deleted.

	SystemInterface (SystemInterface &&other)=default

virtual CallbackReturn	on_init (const HardwareInfo &hardware_info)
	Initialization of the hardware interface from data parsed from the robot's URDF.

virtual std::vector< StateInterface >	export_state_interfaces ()=0
	Exports all state interfaces for this hardware interface.

virtual std::vector< CommandInterface >	export_command_interfaces ()=0
	Exports all command interfaces for this hardware interface.

virtual return_type	prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
	Prepare for a new command interface switch.

virtual return_type	perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)

virtual return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period)=0
	Read the current state values from the actuator.

virtual return_type	write (const rclcpp::Time &time, const rclcpp::Duration &period)=0
	Write the current command values to the actuator.

virtual std::string	get_name () const
	Get name of the actuator hardware.

const rclcpp_lifecycle::State &	get_state () const
	Get life-cycle state of the actuator hardware.

void	set_state (const rclcpp_lifecycle::State &new_state)
	Set life-cycle state of the actuator hardware.

Protected Attributes
rclcpp::Node::SharedPtr	nh_

Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_

rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

◆ initSim()

virtual bool gz_ros2_control::GazeboSimSystemInterface::initSim	(	rclcpp::Node::SharedPtr &	model_nh,
		std::map< std::string, sim::Entity > &	joints,
		const hardware_interface::HardwareInfo &	hardware_info,
		sim::EntityComponentManager &	_ecm,
		int &	update_rate
	)

pure virtual

Initialize the system interface param[in] model_nh Pointer to the ros2 node param[in] joints Map with the name of the joint as the key and the value is related with the entity in Gazebo param[in] hardware_info structure with data from URDF. param[in] _ecm Entity-component manager. param[in] update_rate controller update rate.

Implemented in gz_ros2_control::GazeboSimSystem.

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

gz_ros2_control/gz_ros2_control/include/gz_ros2_control/gz_system_interface.hpp

Public Types

Public Member Functions

Protected Attributes

Member Function Documentation

◆ initSim()