joint_state_topic_hardware_interface::JointStateTopicSystem Class Reference

Inheritance diagram for joint_state_topic_hardware_interface::JointStateTopicSystem:

Collaboration diagram for joint_state_topic_hardware_interface::JointStateTopicSystem:

Public Member Functions
CallbackReturn	on_init (const hardware_interface::HardwareComponentInterfaceParams &params) override
std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this hardware interface.
std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this hardware interface.
hardware_interface::return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Read the current state values from the actuator.
hardware_interface::return_type	write (const rclcpp::Time &, const rclcpp::Duration &) override
	Write the current command values to the actuator.
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 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 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.

Additional Inherited Members
Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_
rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

export_command_interfaces()

std::vector< hardware_interface::CommandInterface > joint_state_topic_hardware_interface::JointStateTopicSystem::export_command_interfaces ( )

overridevirtual

Exports all command interfaces for this hardware interface.

The command interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns

vector of command interfaces

Implements hardware_interface::SystemInterface.

export_state_interfaces()

std::vector< hardware_interface::StateInterface > joint_state_topic_hardware_interface::JointStateTopicSystem::export_state_interfaces ( )

overridevirtual

Exports all state interfaces for this hardware interface.

The state interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns

vector of state interfaces

Implements hardware_interface::SystemInterface.

read()

hardware_interface::return_type joint_state_topic_hardware_interface::JointStateTopicSystem::read ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Read the current state values from the actuator.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns

return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

write()

hardware_interface::return_type joint_state_topic_hardware_interface::JointStateTopicSystem::write ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Write the current command values to the actuator.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns

return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

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

• topic_based_hardware_interfaces/joint_state_topic_hardware_interface/include/joint_state_topic_hardware_interface/joint_state_topic_hardware_interface.hpp
• topic_based_hardware_interfaces/joint_state_topic_hardware_interface/src/joint_state_topic_hardware_interface.cpp