Classes
struct	ActuatorInfo
	Contains semantic info about a given actuator loaded from URDF for a transmission. More...

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

class	AsyncComponentThread

class	CommandInterface

struct	ComponentInfo

struct	ControllerInfo
	Controller Information. More...

class	Handle
	A handle used to get and set a value on a given interface. More...

class	HandleDataType

class	HardwareComponent

struct	HardwareComponentCycleStatus

struct	HardwareComponentInfo
	Hardware Component Information. More...

class	HardwareComponentInterface
	Virtual base class for all hardware components (Actuators, Sensors, and Systems). More...

struct	HardwareComponentInterfaceParams
	Parameters required for the initialization of a specific hardware component plugin. Typically used for on_init methods of hardware interfaces, and is parsed by the user. This struct is typically populated with data from HardwareComponentParams from each component. More...

struct	HardwareComponentParams
	Parameters required for the initialization of a specific hardware component plugin. Typically used for init, initialise and load methods of hardware components. This struct is typically not accessible to user. This struct is typically populated with data from ResourceManagerParams. More...

struct	HardwareComponentStatisticsData

struct	HardwareInfo
	This structure stores information about hardware defined in a robot's URDF. More...

struct	HardwareReadWriteStatus

struct	InterfaceDescription

struct	InterfaceInfo

struct	JointInfo
	Contains semantic info about a given joint loaded from URDF for a transmission. More...

class	LoanedCommandInterface

class	LoanedStateInterface

struct	MimicJoint
	This structure stores information about a joint that is mimicking another joint. More...

class	ResourceManager

struct	ResourceManagerParams
	Parameters required for the construction and initial setup of a ResourceManager. This struct is typically populated by the ControllerManager. More...

class	ResourceStorage

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

class	StateInterface

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

struct	TransmissionInfo
	Contains semantic info about a given transmission loaded from URDF. More...

Typedefs
using	Actuator = HardwareComponent

using	HANDLE_DATATYPE = std::variant< std::monostate, double, bool >

using	CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

using	Sensor = HardwareComponent

using	System = HardwareComponent

Enumerations
enum class	MimicAttribute { NOT_SET , TRUE , FALSE }
	This enum is used to store the mimic attribute of a joint.

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

enum class	TriggerType { READ , WRITE }

Functions
std::vector< HardwareInfo >	parse_control_resources_from_urdf (const std::string &urdf)
	Search XML snippet from URDF for information about a control component.

std::vector< InterfaceDescription >	parse_state_interface_descriptions (const std::vector< ComponentInfo > &component_info)

void	parse_state_interface_descriptions (const std::vector< ComponentInfo > &component_info, std::unordered_map< std::string, InterfaceDescription > &state_interfaces_map)

std::vector< InterfaceDescription >	parse_command_interface_descriptions (const std::vector< ComponentInfo > &component_info)

void	parse_command_interface_descriptions (const std::vector< ComponentInfo > &component_info, std::unordered_map< std::string, InterfaceDescription > &command_interfaces_map)

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)

template<typename T >
std::vector< T >	parse_array (const std::string &array_string)

std::vector< std::string >	parse_string_array (const std::string &string_array_string)

constexpr bool	lifecycleStateThatRequiresNoAction (const lifecycle_msgs::msg::State::_id_type state)

std::string	interfaces_to_string (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)

void	get_hardware_related_interfaces (const std::vector< std::string > &hw_command_itfs, const std::vector< std::string > &start_stop_interfaces_list, std::vector< std::string > &hw_interfaces)

Variables
constexpr char	DEFAULT_REGISTRY_KEY [] = "ros2_control"

constexpr char	DEFAULT_INTROSPECTION_TOPIC [] = "~/introspection_data"

constexpr char	HW_IF_POSITION [] = "position"
	Constant defining position interface name.

constexpr char	HW_IF_VELOCITY [] = "velocity"
	Constant defining velocity interface name.

constexpr char	HW_IF_ACCELERATION [] = "acceleration"
	Constant defining acceleration interface name.

constexpr char	HW_IF_EFFORT [] = "effort"
	Constant defining effort interface name.

constexpr char	HW_IF_TORQUE [] = "torque"
	Constant defining torque interface name.

constexpr char	HW_IF_FORCE [] = "force"
	Constant defining force interface name.

constexpr char	HW_IF_CURRENT [] = "current"
	Constant defining current interface name.

constexpr char	HW_IF_TEMPERATURE [] = "temperature"
	Constant defining temperature interface name.

constexpr char	HW_IF_PROPORTIONAL_GAIN [] = "proportional"

constexpr char	HW_IF_INTEGRAL_GAIN [] = "integral"
	Constant defining integral gain interface name.

constexpr char	HW_IF_DERIVATIVE_GAIN [] = "derivative"
	Constant defining derivative gain interface name.

constexpr char	HW_IF_INTEGRAL_CLAMP_MAX [] = "integral_clamp_max"
	Constant defining integral clamp interface name.

constexpr char	HW_IF_INTEGRAL_CLAMP_MIN [] = "integral_clamp_min"
	Constant defining integral clamp interface name.

constexpr char	HW_IF_FEEDFORWARD [] = "feedforward"
	Constant defining the feedforward interface name.

auto	trigger_and_print_hardware_state_transition

Detailed Description

Author: Sai Kishor Kothakota; : Denis Stogl

Function Documentation

◆ parse_command_interface_descriptions() [1/2]

std::vector< InterfaceDescription > hardware_interface::parse_command_interface_descriptions ( const std::vector< ComponentInfo > & component_info )

Parameters

[in] component_info information about a component (gpio, joint, sensor)

Returns: vector filled with information about hardware's CommandInterfaces for the component which are exported

◆ parse_command_interface_descriptions() [2/2]

void hardware_interface::parse_command_interface_descriptions	(	const std::vector< ComponentInfo > &	component_info,
		std::unordered_map< std::string, InterfaceDescription > &	command_interfaces_map
	)

Parameters

[in]	component_info	information about a component (gpio, joint, sensor)
[out]	command_interfaces_map	unordered_map filled with information about hardware's CommandInterfaces for the component which are exported

◆ 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

◆ parse_state_interface_descriptions() [1/2]

std::vector< InterfaceDescription > hardware_interface::parse_state_interface_descriptions ( const std::vector< ComponentInfo > & component_info )

Parameters

[in] component_info information about a component (gpio, joint, sensor)

Returns: vector filled with information about hardware's StateInterfaces for the component which are exported

◆ parse_state_interface_descriptions() [2/2]

void hardware_interface::parse_state_interface_descriptions	(	const std::vector< ComponentInfo > &	component_info,
		std::unordered_map< std::string, InterfaceDescription > &	state_interfaces_map
	)

Parameters

[in]	component_info	information about a component (gpio, joint, sensor)
[out]	state_interfaces_map	unordered_map filled with information about hardware's StateInterfaces for the component which are exported

◆ 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

◆ HW_IF_PROPORTIONAL_GAIN

constexpr char hardware_interface::HW_IF_PROPORTIONAL_GAIN[] = "proportional"

constexpr

Gains interface constants Constant defining proportional gain interface name

◆ 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_ERROR_NAMED(
      "resource_manager", "Failed to '%s' hardware '%s'", transition_name.c_str(),
      hardware_name.c_str());
  }
  return result;
}

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ parse_command_interface_descriptions() [1/2]

◆ parse_command_interface_descriptions() [2/2]

◆ parse_control_resources_from_urdf()

◆ parse_state_interface_descriptions() [1/2]

◆ parse_state_interface_descriptions() [2/2]

◆ stod()

Variable Documentation

◆ HW_IF_PROPORTIONAL_GAIN

◆ trigger_and_print_hardware_state_transition