hardware_interface Namespace Reference

Classes
class	Actuator
struct	ActuatorInfo
	Contains semantic info about a given actuator loaded from URDF for a transmission. More...
class	ActuatorInterface
class	AsyncComponentThread
class	CommandInterface
struct	ComponentInfo
struct	ControllerInfo
	Controller Information. More...
struct	HardwareComponentInfo
	Hardware Component Information. More...
struct	HardwareInfo
	This structure stores information about hardware defined in a robot's URDF. More...
struct	HardwareReadWriteStatus
struct	InterfaceInfo
struct	JointInfo
	Contains semantic info about a given joint loaded from URDF for a transmission. More...
class	LoanedCommandInterface
class	LoanedStateInterface
class	ReadOnlyHandle
	A handle used to get and set a value on a given interface. More...
class	ReadWriteHandle
class	ResourceManager
class	ResourceStorage
class	Sensor
class	SensorInterface
class	StateInterface
class	System
class	SystemInterface
struct	TransmissionInfo
	Contains semantic info about a given transmission loaded from URDF. More...

Typedefs
using	CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
	Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.

Enumerations
enum class	return_type : std::uint8_t { OK = 0 , ERROR = 1 , DEACTIVATE = 2 }

Functions
HARDWARE_INTERFACE_PUBLIC std::vector< HardwareInfo >	parse_control_resources_from_urdf (const std::string &urdf)
	Search XML snippet from URDF for information about a control component.
double	stod (const std::string &s)
	Helper function to convert a std::string to double in a locale-independent way.
bool	parse_bool (const std::string &bool_string)

Variables
constexpr char	HW_IF_POSITION [] = "position"
	Constant defining position interface.
constexpr char	HW_IF_VELOCITY [] = "velocity"
	Constant defining velocity interface.
constexpr char	HW_IF_ACCELERATION [] = "acceleration"
	Constant defining acceleration interface.
constexpr char	HW_IF_EFFORT [] = "effort"
	Constant defining effort interface.
auto	trigger_and_print_hardware_state_transition

Detailed Description

Author

: Denis Stogl

Typedef Documentation

CallbackReturn

typedef rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn hardware_interface::CallbackReturn

Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.

Virtual Class to implement when integrating a complex system into ros2_control.

Virtual Class to implement when integrating a stand-alone sensor into ros2_control.

The typical examples are conveyors or motors.

Methods return values have type rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn with the following meaning:

Returns

CallbackReturn::SUCCESS method execution was successful.

CallbackReturn::FAILURE method execution has failed and and can be called again.

CallbackReturn::ERROR critical error has happened that should be managed in "on_error" method.

The hardware ends after each method in a state with the following meaning:

UNCONFIGURED (on_init, on_cleanup): Hardware is initialized but communication is not started and therefore no interface is available.

INACTIVE (on_configure, on_deactivate): Communication with the hardware is started and it is configured. States can be read and non-movement hardware interfaces commanded. Hardware interfaces for movement will NOT be available. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

FINALIZED (on_shutdown): Hardware interface is ready for unloading/destruction. Allocated memory is cleaned up.

ACTIVE (on_activate): Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled. Command interfaces for movement are available and have to be accepted. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

The typical examples are Force-Torque Sensor (FTS), Interial Measurement Unit (IMU).

Methods return values have type rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn with the following meaning:

Returns

CallbackReturn::SUCCESS method execution was successful.

CallbackReturn::FAILURE method execution has failed and and can be called again.

CallbackReturn::ERROR critical error has happened that should be managed in "on_error" method.

The hardware ends after each method in a state with the following meaning:

UNCONFIGURED (on_init, on_cleanup): Hardware is initialized but communication is not started and therefore no interface is available.

INACTIVE (on_configure, on_deactivate): Communication with the hardware is started and it is configured. States can be read and non-movement hardware interfaces commanded. Hardware interfaces for movement will NOT be available. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

FINALIZED (on_shutdown): Hardware interface is ready for unloading/destruction. Allocated memory is cleaned up.

ACTIVE (on_activate): Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled. Command interfaces for movement are available and have to be accepted. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

The common examples for these types of hardware are multi-joint systems with or without sensors such as industrial or humanoid robots.

Methods return values have type rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn with the following meaning:

Returns

CallbackReturn::SUCCESS method execution was successful.

CallbackReturn::FAILURE method execution has failed and and can be called again.

CallbackReturn::ERROR critical error has happened that should be managed in "on_error" method.

The hardware ends after each method in a state with the following meaning:

UNCONFIGURED (on_init, on_cleanup): Hardware is initialized but communication is not started and therefore no interface is available.

INACTIVE (on_configure, on_deactivate): Communication with the hardware is started and it is configured. States can be read and non-movement hardware interfaces commanded. Hardware interfaces for movement will NOT be available. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

FINALIZED (on_shutdown): Hardware interface is ready for unloading/destruction. Allocated memory is cleaned up.

ACTIVE (on_activate): Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled. Command interfaces for movement are available and have to be accepted. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

Function Documentation

parse_control_resources_from_urdf()

std::vector< HardwareInfo > hardware_interface::parse_control_resources_from_urdf

(

const std::string &

urdf

)

Search XML snippet from URDF for information about a control component.

Parameters

[in]

urdf

string with robot's URDF

Returns

vector filled with information about robot's control resources

Exceptions

std::runtime_error

if a robot attribute or tag is not found

stod()

double hardware_interface::stod

(

const std::string &

s

)

Helper function to convert a std::string to double in a locale-independent way.

Exceptions

std::invalid_argument

if not a valid number from https://github.com/ros-planning/srdfdom/blob/ad17b8d25812f752c397a6011cec64aeff090c46/src/model.cpp#L53

Variable Documentation

trigger_and_print_hardware_state_transition

auto hardware_interface::trigger_and_print_hardware_state_transition

Initial value:

=
  [](
    auto transition, const std::string transition_name, const std::string & hardware_name,
    const lifecycle_msgs::msg::State::_id_type & target_state)
{
  RCUTILS_LOG_INFO_NAMED(
    "resource_manager", "'%s' hardware '%s' ", transition_name.c_str(), hardware_name.c_str());
 
  const rclcpp_lifecycle::State new_state = transition();
 
  bool result = new_state.id() == target_state;
 
  if (result)
  {
    RCUTILS_LOG_INFO_NAMED(
      "resource_manager", "Successful '%s' of hardware '%s'", transition_name.c_str(),
      hardware_name.c_str());
  }
  else
  {
    RCUTILS_LOG_INFO_NAMED(
      "resource_manager", "Failed to '%s' hardware '%s'", transition_name.c_str(),
      hardware_name.c_str());
  }
  return result;
}