admittance_controller::AdmittanceController Class Reference

Inheritance diagram for admittance_controller::AdmittanceController:

Collaboration diagram for admittance_controller::AdmittanceController:

Public Member Functions
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Export configuration of required state interfaces. More...
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Export configuration of required state interfaces. More...
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override
ADMITTANCE_CONTROLLER_PUBLIC controller_interface::return_type	update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Execute calculations of the controller and update command interfaces. More...
Public Member Functions inherited from controller_interface::ChainableControllerInterface
CONTROLLER_INTERFACE_PUBLIC return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) final
CONTROLLER_INTERFACE_PUBLIC bool	is_chainable () const final
	Get information if a controller is chainable. More...
CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final
CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces () final
CONTROLLER_INTERFACE_PUBLIC bool	set_chained_mode (bool chained_mode) final
CONTROLLER_INTERFACE_PUBLIC bool	is_in_chained_mode () const final
	Get information if a controller is currently in chained mode. More...
Public Member Functions inherited from controller_interface::ControllerInterfaceBase
virtual CONTROLLER_INTERFACE_PUBLIC void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)
	Method that assigns the Loaned interfaces to the controller. More...
virtual CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()
	Method that releases the Loaned interfaces from the controller. More...
CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name, const std::string &urdf, unsigned int cm_update_rate, const std::string &node_namespace, const rclcpp::NodeOptions &node_options)
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.
CONTROLLER_INTERFACE_PUBLIC ControllerUpdateStatus	trigger_update (const rclcpp::Time &time, const rclcpp::Duration &period)
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< const rclcpp_lifecycle::LifecycleNode >	get_node () const
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_lifecycle_state () const
CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const
CONTROLLER_INTERFACE_PUBLIC bool	is_async () const
CONTROLLER_INTERFACE_PUBLIC const std::string &	get_robot_description () const
virtual CONTROLLER_INTERFACE_PUBLIC rclcpp::NodeOptions	define_custom_node_options () const
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type. More...
CONTROLLER_INTERFACE_PUBLIC void	wait_for_trigger_update_to_finish ()

Protected Types
template<typename T >
using	InterfaceReferences = std::vector< std::vector< std::reference_wrapper< T > >>

Protected Member Functions
std::vector< hardware_interface::CommandInterface >	on_export_reference_interfaces () override
controller_interface::return_type	update_reference_from_subscribers (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Update reference from input topics when not in chained mode. More...
void	read_state_from_hardware (trajectory_msgs::msg::JointTrajectoryPoint &state_current, geometry_msgs::msg::Wrench &ft_values)
	Read values from hardware interfaces and set corresponding fields of state_current and ft_values.
void	read_state_reference_interfaces (trajectory_msgs::msg::JointTrajectoryPoint &state)
	Set fields of state_reference with values from controllers exported position and velocity references.
void	write_state_to_hardware (const trajectory_msgs::msg::JointTrajectoryPoint &state_command)
	Write values from state_command to claimed hardware interfaces.
Protected Member Functions inherited from controller_interface::ChainableControllerInterface
virtual std::vector< hardware_interface::StateInterface >	on_export_state_interfaces ()
virtual bool	on_set_chained_mode (bool chained_mode)
	Virtual method that each chainable controller should implement to switch chained mode. More...

Protected Attributes
size_t	num_joints_ = 0
std::vector< std::string >	command_joint_names_
InterfaceReferences< hardware_interface::LoanedCommandInterface >	joint_command_interface_
InterfaceReferences< hardware_interface::LoanedStateInterface >	joint_state_interface_
bool	has_position_state_interface_ = false
bool	has_velocity_state_interface_ = false
bool	has_acceleration_state_interface_ = false
bool	has_position_command_interface_ = false
bool	has_velocity_command_interface_ = false
bool	has_acceleration_command_interface_ = false
bool	has_effort_command_interface_ = false
const std::vector< std::string >	allowed_interface_types_
const std::vector< std::string >	allowed_reference_interfaces_types_
std::vector< std::reference_wrapper< double > >	position_reference_
std::vector< std::reference_wrapper< double > >	velocity_reference_
std::unique_ptr< admittance_controller::AdmittanceRule >	admittance_
std::unique_ptr< semantic_components::ForceTorqueSensor >	force_torque_sensor_
rclcpp::Subscription< trajectory_msgs::msg::JointTrajectoryPoint >::SharedPtr	input_joint_command_subscriber_
rclcpp::Subscription< geometry_msgs::msg::WrenchStamped >::SharedPtr	input_wrench_command_subscriber_
rclcpp::Publisher< control_msgs::msg::AdmittanceControllerState >::SharedPtr	s_publisher_
std::shared_ptr< admittance_controller::ParamListener >	parameter_handler_
std::shared_ptr< trajectory_msgs::msg::JointTrajectoryPoint >	joint_command_msg_
realtime_tools::RealtimeBuffer< std::shared_ptr< trajectory_msgs::msg::JointTrajectoryPoint > >	input_joint_command_
realtime_tools::RealtimeBuffer< geometry_msgs::msg::WrenchStamped >	input_wrench_command_
std::unique_ptr< realtime_tools::RealtimePublisher< ControllerStateMsg > >	state_publisher_
trajectory_msgs::msg::JointTrajectoryPoint	last_commanded_
trajectory_msgs::msg::JointTrajectoryPoint	last_reference_
trajectory_msgs::msg::JointTrajectoryPoint	reference_
trajectory_msgs::msg::JointTrajectoryPoint	joint_state_
trajectory_msgs::msg::JointTrajectoryPoint	reference_admittance_
geometry_msgs::msg::Wrench	ft_values_
Protected Attributes inherited from controller_interface::ChainableControllerInterface
std::vector< std::string >	exported_state_interface_names_
	Storage of values for state interfaces.
std::vector< hardware_interface::StateInterface::SharedPtr >	ordered_exported_state_interfaces_
std::unordered_map< std::string, hardware_interface::StateInterface::SharedPtr >	exported_state_interfaces_
std::vector< double >	state_interfaces_values_
std::vector< std::string >	exported_reference_interface_names_
	Storage of values for reference interfaces.
std::vector< double >	reference_interfaces_
std::vector< hardware_interface::CommandInterface::SharedPtr >	ordered_exported_reference_interfaces_
std::unordered_map< std::string, hardware_interface::CommandInterface::SharedPtr >	exported_reference_interfaces_
Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration admittance_controller::AdmittanceController::command_interface_configuration ( ) const

overridevirtual

Export configuration of required state interfaces.

Allowed types of state interfaces are hardware_interface::POSITION, hardware_interface::VELOCITY, hardware_interface::ACCELERATION.

Implements controller_interface::ControllerInterfaceBase.

on_export_reference_interfaces()

std::vector< hardware_interface::CommandInterface > admittance_controller::AdmittanceController::on_export_reference_interfaces ( )

overrideprotectedvirtual

Virtual method that each chainable controller should implement to export its read/write chainable interfaces. Each chainable controller implements this methods where all input (command) interfaces are exported. The method has the same meaning as export_command_interface method from hardware_interface::SystemInterface or hardware_interface::ActuatorInterface.

Returns

list of CommandInterfaces that other controller can use as their outputs.

Reimplemented from controller_interface::ChainableControllerInterface.

state_interface_configuration()

controller_interface::InterfaceConfiguration admittance_controller::AdmittanceController::state_interface_configuration ( ) const

overridevirtual

Export configuration of required state interfaces.

Allowed types of state interfaces are hardware_interface::POSITION, hardware_interface::VELOCITY, hardware_interface::ACCELERATION.

Implements controller_interface::ControllerInterfaceBase.

update_and_write_commands()

controller_interface::return_type admittance_controller::AdmittanceController::update_and_write_commands ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Execute calculations of the controller and update command interfaces.

Update method for chainable controllers. In this method is valid to assume that \reference_interfaces_ hold the values for calculation of the commands in the current control step. This means that this method is called after \update_reference_from_subscribers if controller is not in chained mode.

Returns

return_type::OK if calculation and writing of interface is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

update_reference_from_subscribers()

controller_interface::return_type admittance_controller::AdmittanceController::update_reference_from_subscribers ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overrideprotectedvirtual

Update reference from input topics when not in chained mode.

Each chainable controller implements this method to update reference from subscribers when not in chained mode.

Returns

return_type::OK if update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

Member Data Documentation

allowed_interface_types_

const std::vector<std::string> admittance_controller::AdmittanceController::allowed_interface_types_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION}

allowed_reference_interfaces_types_

const std::vector<std::string> admittance_controller::AdmittanceController::allowed_reference_interfaces_types_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY}

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

• ros2_controllers/admittance_controller/include/admittance_controller/admittance_controller.hpp
• ros2_controllers/admittance_controller/src/admittance_controller.cpp