HardwareInterfaceAdapter< HardwareInterface > Class Template Reference

Helper class to simplify integrating the GripperActionController with different hardware interfaces. More...

#include <hardware_interface_adapter.hpp>

Public Member Functions
bool	init (std::optional< std::reference_wrapper< hardware_interface::LoanedCommandInterface >>, std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &)
void	starting (const rclcpp::Time &)
void	stopping (const rclcpp::Time &)
double	updateCommand (double, double, double, double, double)

Detailed Description

template<const char * HardwareInterface>
class HardwareInterfaceAdapter< HardwareInterface >

Helper class to simplify integrating the GripperActionController with different hardware interfaces.

Author

Sachin Chitta, Adolfo Rodriguez Tsouroukdissian

The GripperActionController outputs position while it is supposed to work with either position or effort commands.

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

• ros2_controllers/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp