Adapter for a position-controlled hardware interface. Forwards desired positions as commands. More...

Public Member Functions
bool	init (std::optional< std::reference_wrapper< hardware_interface::LoanedCommandInterface >> joint_handle, const rclcpp_lifecycle::LifecycleNode::SharedPtr &)

void	starting (const rclcpp::Time &)

void	stopping (const rclcpp::Time &)

double	updateCommand (double desired_position, double, double, double, double max_allowed_effort)

Detailed Description

Adapter for a position-controlled hardware interface. Forwards desired positions as commands.

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