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

#include <sensor_interface.hpp>

Inheritance diagram for hardware_interface::SensorInterface:

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Collaboration diagram for hardware_interface::SensorInterface:

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Public Member Functions
std::vector< CommandInterface::SharedPtr >	on_export_command_interfaces () override

return_type	write (const rclcpp::Time &, const rclcpp::Duration &) final
	Write the current command values to the hardware.

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

	HardwareComponentInterface (HardwareComponentInterface &&other)=delete

CallbackReturn	init (const HardwareInfo &hardware_info, rclcpp::Logger logger, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)

CallbackReturn	init (const HardwareInfo &hardware_info, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)

CallbackReturn	init (const hardware_interface::HardwareComponentParams &params)

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

virtual CallbackReturn	on_init (const hardware_interface::HardwareComponentInterfaceParams &params)
	Initialization of the hardware interface from data parsed from the robot's URDF.

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

virtual std::vector< hardware_interface::InterfaceDescription >	export_unlisted_state_interface_descriptions ()

virtual std::vector< StateInterface::ConstSharedPtr >	on_export_state_interfaces ()

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

virtual std::vector< hardware_interface::InterfaceDescription >	export_unlisted_command_interface_descriptions ()

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 > &)

HardwareComponentCycleStatus	trigger_read (const rclcpp::Time &time, const rclcpp::Duration &period)
	Triggers the read method synchronously or asynchronously depending on the HardwareInfo.

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

HardwareComponentCycleStatus	trigger_write (const rclcpp::Time &time, const rclcpp::Duration &period)
	Triggers the write method synchronously or asynchronously depending on the HardwareInfo.

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

const std::string &	get_group_name () const
	Get name of the hardware group to which it belongs to.

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

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

template<typename T >
void	set_state (const std::string &interface_name, const T &value)

template<typename T = double>
T	get_state (const std::string &interface_name) const

template<typename T >
void	set_command (const std::string &interface_name, const T &value)

template<typename T = double>
T	get_command (const std::string &interface_name) const

rclcpp::Logger	get_logger () const
	Get the logger of the Interface.

rclcpp::Clock::SharedPtr	get_clock () const
	Get the clock of the Interface.

rclcpp::Node::SharedPtr	get_node () const
	Get the default node of the Interface.

const HardwareInfo &	get_hardware_info () const
	Get the hardware info of the Interface.

void	prepare_for_activation ()
	Prepare for the activation of the hardware.

void	enable_introspection (bool enable)
	Enable or disable introspection of the hardware.

Additional Inherited Members
Protected Attributes inherited from hardware_interface::HardwareComponentInterface
HardwareInfo	info_

std::unordered_map< std::string, InterfaceDescription >	joint_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	joint_command_interfaces_

std::unordered_map< std::string, InterfaceDescription >	sensor_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	gpio_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	gpio_command_interfaces_

std::unordered_map< std::string, InterfaceDescription >	unlisted_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	unlisted_command_interfaces_

rclcpp_lifecycle::State	lifecycle_state_

std::unique_ptr< realtime_tools::AsyncFunctionHandler< return_type > >	async_handler_

std::vector< StateInterface::SharedPtr >	joint_states_

std::vector< CommandInterface::SharedPtr >	joint_commands_

std::vector< StateInterface::SharedPtr >	sensor_states_

std::vector< StateInterface::SharedPtr >	gpio_states_

std::vector< CommandInterface::SharedPtr >	gpio_commands_

std::vector< StateInterface::SharedPtr >	unlisted_states_

std::vector< CommandInterface::SharedPtr >	unlisted_commands_

pal_statistics::RegistrationsRAII	stats_registrations_

Detailed Description

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

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.

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

ACTIVE (on_activate): States can be read.

Member Function Documentation

◆ on_export_command_interfaces()

std::vector< CommandInterface::SharedPtr > hardware_interface::SensorInterface::on_export_command_interfaces ( )

inlineoverridevirtual

Default implementation for exporting the CommandInterfaces. The CommandInterfaces are created according to the InterfaceDescription. The memory accessed by the controllers and hardware is assigned here and resides in the system_interface.

Actuator and System components should override this method. Sensor components can use the default.

Returns: vector of shared pointers to the created and stored CommandInterfaces

Reimplemented from hardware_interface::HardwareComponentInterface.

◆ write()

return_type hardware_interface::SensorInterface::write	(	const rclcpp::Time &	,
		const rclcpp::Duration &
	)

inlinefinalvirtual

Write the current command values to the hardware.

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.

Reimplemented from hardware_interface::HardwareComponentInterface.

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

ros2_control/hardware_interface/include/hardware_interface/sensor_interface.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ on_export_command_interfaces()

◆ write()