Inheritance diagram for gz_ros2_control::GZResourceManager:

Collaboration diagram for gz_ros2_control::GZResourceManager:

Public Member Functions
	GZResourceManager (rclcpp::Node::SharedPtr &node, sim::EntityComponentManager &ecm, std::map< std::string, sim::Entity > enabledJoints)

	GZResourceManager (const GZResourceManager &)=delete

bool	load_and_initialize_components (const hardware_interface::ResourceManagerParams &params) override
	Load resources from on a given URDF.

Public Member Functions inherited from hardware_interface::ResourceManager
	ResourceManager (rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)
	Default constructor for the Resource Manager.

	ResourceManager (rclcpp::Clock::SharedPtr clock, rclcpp::Logger logger)
	Default constructor for the Resource Manager.

	ResourceManager (const std::string &urdf, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface, bool activate_all=false, const unsigned int update_rate=100)
	Constructor for the Resource Manager.

	ResourceManager (const std::string &urdf, rclcpp::Clock::SharedPtr clock, rclcpp::Logger logger, bool activate_all=false, const unsigned int update_rate=100)
	Constructor for the Resource Manager.

	ResourceManager (const hardware_interface::ResourceManagerParams &params, bool load)
	Constructor for the Resource Manager.

	ResourceManager (const ResourceManager &)=delete

bool	shutdown_components ()
	Shutdown all hardware components, irrespective of their state.

void	import_joint_limiters (const std::string &urdf)
	Import joint limiters from the URDF.

bool	are_components_initialized () const
	if the resource manager load_and_initialize_components(...) function has been called this returns true. We want to permit to loading the urdf later on, but we currently don't want to permit multiple calls to load_and_initialize_components (reloading/loading different urdf).

LoanedStateInterface	claim_state_interface (const std::string &key)
	Claim a state interface given its key.

std::vector< std::string >	state_interface_keys () const
	Returns all registered state interfaces keys.

std::vector< std::string >	available_state_interfaces () const
	Returns all available state interfaces keys.

bool	state_interface_is_available (const std::string &name) const
	Checks whether a state interface is available under the given key.

std::string	get_state_interface_data_type (const std::string &name) const
	Gets the data type of the state interface.

void	import_controller_exported_state_interfaces (const std::string &controller_name, std::vector< StateInterface::ConstSharedPtr > &interfaces)
	Add controllers' exported state interfaces to resource manager.

std::vector< std::string >	get_controller_exported_state_interface_names (const std::string &controller_name)
	Get list of exported tate interface of a controller.

void	make_controller_exported_state_interfaces_available (const std::string &controller_name)
	Add controller's exported state interfaces to available list.

void	make_controller_exported_state_interfaces_unavailable (const std::string &controller_name)
	Remove controller's exported state interface to available list.

void	remove_controller_exported_state_interfaces (const std::string &controller_name)
	Remove controllers exported state interfaces from resource manager.

void	import_controller_reference_interfaces (const std::string &controller_name, const std::vector< hardware_interface::CommandInterface::SharedPtr > &interfaces)
	Add controllers' reference interfaces to resource manager.

std::vector< std::string >	get_controller_reference_interface_names (const std::string &controller_name)
	Get list of reference interface of a controller.

void	make_controller_reference_interfaces_available (const std::string &controller_name)
	Add controller's reference interface to available list.

void	make_controller_reference_interfaces_unavailable (const std::string &controller_name)
	Remove controller's reference interface to available list.

void	remove_controller_reference_interfaces (const std::string &controller_name)
	Remove controllers reference interfaces from resource manager.

void	cache_controller_to_hardware (const std::string &controller_name, const std::vector< std::string > &interfaces)
	Cache mapping between hardware and controllers using it.

std::vector< std::string >	get_cached_controllers_to_hardware (const std::string &hardware_name)
	Return cached controllers for a specific hardware.

bool	command_interface_is_claimed (const std::string &key) const
	Checks whether a command interface is already claimed.

LoanedCommandInterface	claim_command_interface (const std::string &key)
	Claim a command interface given its key.

std::vector< std::string >	command_interface_keys () const
	Returns all registered command interfaces keys.

std::vector< std::string >	available_command_interfaces () const
	Returns all available command interfaces keys.

bool	command_interface_is_available (const std::string &interface) const
	Checks whether a command interface is available under the given name.

std::string	get_command_interface_data_type (const std::string &name) const
	Gets the data type of the command interface.

size_t	actuator_components_size () const
	Return the number size_t of loaded actuator components.

size_t	sensor_components_size () const
	Return the number of loaded sensor components.

size_t	system_components_size () const
	Return the number of loaded system components.

void	import_component (std::unique_ptr< SystemInterface > system, const HardwareComponentParams &params)
	Import a hardware component which is not listed in the URDF.

void	import_component (std::unique_ptr< ActuatorInterface > actuator, const HardwareComponentParams &params)
	Import a hardware component which is not listed in the URDF.

void	import_component (std::unique_ptr< SensorInterface > sensor, const HardwareComponentParams &params)
	Import a hardware component which is not listed in the URDF.

const std::unordered_map< std::string, HardwareComponentInfo > &	get_components_status ()
	Return status for all components.

const std::unordered_map< std::string, joint_limits::JointLimits > &	get_hard_joint_limits () const
	Return the unordered map of hard joint limits.

const std::unordered_map< std::string, joint_limits::SoftJointLimits > &	get_soft_joint_limits () const
	Return the unordered map of soft joint limits.

bool	prepare_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)
	Prepare the hardware components for a new command interface mode.

bool	perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)
	Notify the hardware components that realtime hardware mode switching should occur.

return_type	set_component_state (const std::string &component_name, rclcpp_lifecycle::State &target_state)
	Sets state of hardware component.

bool	enforce_command_limits (const rclcpp::Duration &period)

HardwareReadWriteStatus	read (const rclcpp::Time &time, const rclcpp::Duration &period)
	Reads all loaded hardware components.

HardwareReadWriteStatus	write (const rclcpp::Time &time, const rclcpp::Duration &period)
	Write all loaded hardware components.

bool	command_interface_exists (const std::string &key) const
	Checks whether a command interface is registered under the given key.

bool	state_interface_exists (const std::string &key) const
	Checks whether a state interface is registered under the given key.

void	set_on_component_state_switch_callback (std::function< void()> callback)
	A method to register a callback to be called when the component state changes.

const std::string &	get_robot_description () const

Additional Inherited Members
Protected Member Functions inherited from hardware_interface::ResourceManager
rclcpp::Logger	get_logger () const
	Gets the logger for the resource manager.

rclcpp::Clock::SharedPtr	get_clock () const
	Gets the clock for the resource manager.

Protected Attributes inherited from hardware_interface::ResourceManager
bool	components_are_loaded_and_initialized_ = false

bool	allow_controller_activation_with_inactive_hardware_ = false

bool	return_failed_hardware_names_on_return_deactivate_write_cycle_ = true

std::recursive_mutex	resource_interfaces_lock_

std::recursive_mutex	claimed_command_interfaces_lock_

std::recursive_mutex	resources_lock_

std::recursive_mutex	joint_limiters_lock_

Member Function Documentation

◆ load_and_initialize_components()

bool gz_ros2_control::GZResourceManager::load_and_initialize_components ( const hardware_interface::ResourceManagerParams & params )

inlineoverridevirtual

Load resources from on a given URDF.

The resource manager can be post-initialized with a given URDF. This is mainly used in conjunction with the default constructor in which the URDF might not be present at first initialization.

Parameters

[in]	urdf	string containing the URDF.
[in]	update_rate	update rate of the main control loop, i.e., of the controller manager.

Returns: false if URDF validation has failed.

Reimplemented from hardware_interface::ResourceManager.

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

gz_ros2_control/gz_ros2_control/src/gz_ros2_control_plugin.cpp

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ load_and_initialize_components()