Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop. More...

#include <hardware_interface_adapter.hpp>

Public Member Functions
template<typename ParameterT >
auto	auto_declare (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &node, const std::string &name, const ParameterT &default_value)

bool	init (std::optional< std::reference_wrapper< hardware_interface::LoanedCommandInterface >> joint_handle, const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &node)

void	starting (const rclcpp::Time &)

void	stopping (const rclcpp::Time &)

double	updateCommand (double, double, double error_position, double error_velocity, double max_allowed_effort)

Detailed Description

Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop.

The following is an example configuration of a controller that uses this adapter. Notice the gains entry:

 gripper_controller: type:
"gripper_action_controller/GripperActionController" joints: gripper_joint
  goal_tolerance: 0.01
  stalled_velocity_threshold: 0.01
  stall_timeout: 0.2
  gains:
    gripper_joint: {p: 200, d: 1, i: 5, i_clamp: 1}

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

ros2_controllers/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp

Public Member Functions

Detailed Description