#include <controller_interface_base.hpp>

Inheritance diagram for controller_interface::ControllerInterfaceBase:

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Collaboration diagram for controller_interface::ControllerInterfaceBase:

Public Member Functions
virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration	command_interface_configuration () const =0
	Get configuration for controller's required command interfaces. More...

virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration	state_interface_configuration () const =0
	Get configuration for controller's required state interfaces. More...

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.

virtual CONTROLLER_INTERFACE_PUBLIC CallbackReturn	on_init ()=0
	Extending interface with initialization method which is individual for each controller.

virtual CONTROLLER_INTERFACE_PUBLIC return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period)=0

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...

virtual CONTROLLER_INTERFACE_PUBLIC bool	is_chainable () const =0
	Get information if a controller is chainable. More...

virtual CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces ()=0

virtual CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces ()=0

virtual CONTROLLER_INTERFACE_PUBLIC bool	set_chained_mode (bool chained_mode)=0

virtual CONTROLLER_INTERFACE_PUBLIC bool	is_in_chained_mode () const =0
	Get information if a controller is currently in chained mode. More...

CONTROLLER_INTERFACE_PUBLIC void	wait_for_trigger_update_to_finish ()

Protected Attributes
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

Detailed Description

Base interface class for an controller. The interface may not be used to implement a controller. The class provides definitions for ControllerInterface and ChainableControllerInterface that should be implemented and extended for a specific controller.

Member Function Documentation

◆ assign_interfaces()

void controller_interface::ControllerInterfaceBase::assign_interfaces	(	std::vector< hardware_interface::LoanedCommandInterface > &&	command_interfaces,
		std::vector< hardware_interface::LoanedStateInterface > &&	state_interfaces
	)

virtual

Method that assigns the Loaned interfaces to the controller.

Method used by the controller_manager to assign the interfaces to the controller.

Note: When this method is overridden, the user has to also implement the release_interfaces method by overriding it to release the interfaces.

Parameters

[in]	command_interfaces	vector of command interfaces to be assigned to the controller.
[in]	state_interfaces	vector of state interfaces to be assigned to the controller.

◆ auto_declare()

template<typename ParameterT >

auto controller_interface::ControllerInterfaceBase::auto_declare	(	const std::string &	name,
		const ParameterT &	default_value
	)

inline

Declare and initialize a parameter with a type.

Wrapper function for templated node's declare_parameter() which checks if parameter is already declared. For use in all components that inherit from ControllerInterfaceBase

◆ command_interface_configuration()

virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration controller_interface::ControllerInterfaceBase::command_interface_configuration ( ) const

pure virtual

Get configuration for controller's required command interfaces.

Method used by the controller_manager to get the set of command interfaces used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the command_interfaces_ member.

Returns: configuration of command interfaces.

Implemented in tricycle_controller::TricycleController, steering_controllers_library::SteeringControllersLibrary, range_sensor_broadcaster::RangeSensorBroadcaster, pose_broadcaster::PoseBroadcaster, pid_controller::PidController, parallel_gripper_action_controller::GripperActionController, mecanum_drive_controller::MecanumDriveController, joint_trajectory_controller::JointTrajectoryController, joint_state_broadcaster::JointStateBroadcaster, imu_sensor_broadcaster::IMUSensorBroadcaster, gripper_action_controller::GripperActionController< HardwareInterface >, gpio_controllers::GpioCommandController, forward_command_controller::ForwardControllersBase, force_torque_sensor_broadcaster::ForceTorqueSensorBroadcaster, diff_drive_controller::DiffDriveController, admittance_controller::AdmittanceController, ros2_control_demo_example_7::RobotController, passthrough_controller::PassthroughController, and ros2_control_demo_example_10::GPIOController.

◆ define_custom_node_options()

virtual CONTROLLER_INTERFACE_PUBLIC rclcpp::NodeOptions controller_interface::ControllerInterfaceBase::define_custom_node_options ( ) const

inlinevirtual

Method used by the controller_manager for base NodeOptions to instantiate the Lifecycle node of the controller upon loading the controller.

Note: The controller_manager will modify these NodeOptions in case a params file is passed by the spawner to load the controller parameters or when controllers are loaded in simulation (see ros2_control#1311, ros2_controllers#698 , ros2_controllers#795,ros2_controllers#966 for more details)

Returns: NodeOptions required for the configuration of the controller lifecycle node

◆ export_reference_interfaces()

virtual CONTROLLER_INTERFACE_PUBLIC std::vector<hardware_interface::CommandInterface::SharedPtr> controller_interface::ControllerInterfaceBase::export_reference_interfaces ( )

pure virtual

Export interfaces for a chainable controller that can be used as command interface of other controllers.

Returns: list of command interfaces for preceding controllers.

Implemented in controller_interface::ControllerInterface, and controller_interface::ChainableControllerInterface.

◆ export_state_interfaces()

virtual CONTROLLER_INTERFACE_PUBLIC std::vector<hardware_interface::StateInterface::ConstSharedPtr> controller_interface::ControllerInterfaceBase::export_state_interfaces ( )

pure virtual

Export interfaces for a chainable controller that can be used as state interface by other controllers.

Returns: list of state interfaces for preceding controllers.

Implemented in controller_interface::ControllerInterface, and controller_interface::ChainableControllerInterface.

◆ is_chainable()

virtual CONTROLLER_INTERFACE_PUBLIC bool controller_interface::ControllerInterfaceBase::is_chainable ( ) const

pure virtual

Get information if a controller is chainable.

Returns: true is controller is chainable and false if it is not.

Implemented in controller_interface::ControllerInterface, and controller_interface::ChainableControllerInterface.

◆ is_in_chained_mode()

virtual CONTROLLER_INTERFACE_PUBLIC bool controller_interface::ControllerInterfaceBase::is_in_chained_mode ( ) const

pure virtual

Get information if a controller is currently in chained mode.

Get information about controller if it is currently used in chained mode. In chained mode only internal interfaces are available and all subscribers are expected to be disabled. This prevents concurrent writing to controller's inputs from multiple sources.

Returns: true is controller is in chained mode and false if it is not.

Implemented in controller_interface::ControllerInterface, and controller_interface::ChainableControllerInterface.

◆ release_interfaces()

void controller_interface::ControllerInterfaceBase::release_interfaces ( )

virtual

Method that releases the Loaned interfaces from the controller.

Method used by the controller_manager to release the interfaces from the controller.

◆ set_chained_mode()

virtual CONTROLLER_INTERFACE_PUBLIC bool controller_interface::ControllerInterfaceBase::set_chained_mode ( bool chained_mode )

pure virtual

Set chained mode of a chainable controller. This method triggers internal processes to switch a chainable controller to "chained" mode and vice-versa. Setting controller to "chained" mode usually involves the usage of the controller's reference interfaces by the other controllers

Returns: true if mode is switched successfully and false if not.

Implemented in controller_interface::ControllerInterface, and controller_interface::ChainableControllerInterface.

◆ state_interface_configuration()

virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration controller_interface::ControllerInterfaceBase::state_interface_configuration ( ) const

pure virtual

Get configuration for controller's required state interfaces.

Method used by the controller_manager to get the set of state interface used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the state_interfaces_ member.

Returns: configuration of state interfaces.

Implemented in tricycle_controller::TricycleController, steering_controllers_library::SteeringControllersLibrary, range_sensor_broadcaster::RangeSensorBroadcaster, pose_broadcaster::PoseBroadcaster, pid_controller::PidController, parallel_gripper_action_controller::GripperActionController, mecanum_drive_controller::MecanumDriveController, joint_trajectory_controller::JointTrajectoryController, joint_state_broadcaster::JointStateBroadcaster, imu_sensor_broadcaster::IMUSensorBroadcaster, gripper_action_controller::GripperActionController< HardwareInterface >, gpio_controllers::GpioCommandController, forward_command_controller::ForwardControllersBase, force_torque_sensor_broadcaster::ForceTorqueSensorBroadcaster, diff_drive_controller::DiffDriveController, admittance_controller::AdmittanceController, ros2_control_demo_example_7::RobotController, passthrough_controller::PassthroughController, and ros2_control_demo_example_10::GPIOController.

◆ trigger_update()

ControllerUpdateStatus controller_interface::ControllerInterfaceBase::trigger_update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

Trigger update method. This method is used by the controller_manager to trigger the update method of the controller. The method is used to trigger the update method of the controller synchronously or asynchronously, based on the controller configuration. The method called in the (real-time) control loop.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time taken by the last control loop iteration

Returns: ControllerUpdateStatus. The status contains information if the update was triggered successfully, the result of the update method and the execution duration of the update method.

◆ update()

virtual CONTROLLER_INTERFACE_PUBLIC return_type controller_interface::ControllerInterfaceBase::update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

pure virtual

Control step update. Command interfaces are updated based on on reference inputs and current states. The method called in the (real-time) control loop.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time since the last control loop iteration

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

Implemented in tricycle_controller::TricycleController, range_sensor_broadcaster::RangeSensorBroadcaster, pose_broadcaster::PoseBroadcaster, parallel_gripper_action_controller::GripperActionController, joint_trajectory_controller::JointTrajectoryController, joint_state_broadcaster::JointStateBroadcaster, imu_sensor_broadcaster::IMUSensorBroadcaster, gripper_action_controller::GripperActionController< HardwareInterface >, gpio_controllers::GpioCommandController, forward_command_controller::ForwardControllersBase, diff_drive_controller::DiffDriveController, ros2_control_demo_example_7::RobotController, ros2_control_demo_example_10::GPIOController, and controller_interface::ChainableControllerInterface.

◆ wait_for_trigger_update_to_finish()

void controller_interface::ControllerInterfaceBase::wait_for_trigger_update_to_finish ( )

Method to wait for any running async update cycle to finish after finishing the current cycle. This is needed to be called before deactivating the controller by the controller_manager, so that the interfaces still exist when the controller finishes its cycle and then it's exits.

Note: The method is not real-time safe and shouldn't be called in the control loop.

If the controller is running in async mode, the method will wait for the current async update to finish. If the controller is not running in async mode, the method will do nothing.

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

ros2_control/controller_interface/include/controller_interface/controller_interface_base.hpp
ros2_control/controller_interface/src/controller_interface_base.cpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ assign_interfaces()

◆ auto_declare()

◆ command_interface_configuration()

◆ define_custom_node_options()

◆ export_reference_interfaces()

◆ export_state_interfaces()

◆ is_chainable()

◆ is_in_chained_mode()

◆ release_interfaces()

◆ set_chained_mode()

◆ state_interface_configuration()

◆ trigger_update()

◆ update()

◆ wait_for_trigger_update_to_finish()