Inheritance diagram for controller_manager::ControllerManager:

Collaboration diagram for controller_manager::ControllerManager:

Public Member Functions
	ControllerManager (std::unique_ptr< hardware_interface::ResourceManager > resource_manager, std::shared_ptr< rclcpp::Executor > executor, const std::string &manager_node_name="controller_manager", const std::string &node_namespace="", const rclcpp::NodeOptions &options=get_cm_node_options())

	ControllerManager (std::shared_ptr< rclcpp::Executor > executor, const std::string &manager_node_name="controller_manager", const std::string &node_namespace="", const rclcpp::NodeOptions &options=get_cm_node_options())

	ControllerManager (std::shared_ptr< rclcpp::Executor > executor, const std::string &urdf, bool activate_all_hw_components, const std::string &manager_node_name="controller_manager", const std::string &node_namespace="", const rclcpp::NodeOptions &options=get_cm_node_options())

bool	shutdown_controllers ()
	Shutdown all controllers in the controller manager.

void	robot_description_callback (const std_msgs::msg::String &msg)

void	init_resource_manager (const std::string &robot_description)

controller_interface::ControllerInterfaceBaseSharedPtr	load_controller (const std::string &controller_name, const std::string &controller_type)

controller_interface::ControllerInterfaceBaseSharedPtr	load_controller (const std::string &controller_name)
	load_controller loads a controller by name, the type must be defined in the parameter server.

controller_interface::return_type	unload_controller (const std::string &controller_name)

std::vector< ControllerSpec >	get_loaded_controllers () const

template<typename T , typename std::enable_if< std::is_convertible< T , controller_interface::ControllerInterfaceBase >::value, T >::type * = nullptr>
controller_interface::ControllerInterfaceBaseSharedPtr	add_controller (std::shared_ptr< T > controller, const std::string &controller_name, const std::string &controller_type)

controller_interface::ControllerInterfaceBaseSharedPtr	add_controller (const ControllerSpec &controller_spec)

controller_interface::return_type	configure_controller (const std::string &controller_name)
	configure_controller Configure controller by name calling their "configure" method.

controller_interface::return_type	switch_controller (const std::vector< std::string > &activate_controllers, const std::vector< std::string > &deactivate_controllers, int strictness, bool activate_asap=kWaitForAllResources, const rclcpp::Duration &timeout=rclcpp::Duration::from_nanoseconds(kInfiniteTimeout))
	switch_controller Deactivates some controllers and activates others.

controller_interface::return_type	switch_controller_cb (const std::vector< std::string > &activate_controllers, const std::vector< std::string > &deactivate_controllers, int strictness, bool activate_asap, const rclcpp::Duration &timeout, std::string &message)
	switch_controller Deactivates some controllers and activates others.

void	read (const rclcpp::Time &time, const rclcpp::Duration &period)
	Read values to state interfaces.

controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period)
	Run update on controllers.

void	write (const rclcpp::Time &time, const rclcpp::Duration &period)
	Write values from command interfaces.

bool	is_resource_manager_initialized () const
	Deterministic (real-time safe) callback group, e.g., update function.

unsigned int	get_update_rate () const
	Update rate of the main control loop in the controller manager.

rclcpp::Clock::SharedPtr	get_trigger_clock () const
	Get the trigger clock of the controller manager.

Static Public Attributes
static constexpr bool	kWaitForAllResources = false

static constexpr auto	kInfiniteTimeout = 0

Protected Member Functions
void	init_services ()

controller_interface::ControllerInterfaceBaseSharedPtr	add_controller_impl (const ControllerSpec &controller)

void	manage_switch ()

void	deactivate_controllers (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_deactivate)
	Deactivate chosen controllers from real-time controller list.

void	switch_chained_mode (const std::vector< std::string > &chained_mode_switch_list, bool to_chained_mode)

void	activate_controllers (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_activate)
	Activate chosen controllers from real-time controller list.

void	activate_controllers_asap (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_activate)
	Activate chosen controllers from real-time controller list.

void	list_controllers_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllers::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllers::Response > response)

void	list_hardware_interfaces_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Response > response)

void	load_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::LoadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::LoadController::Response > response)

void	configure_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Request > request, std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Response > response)

void	reload_controller_libraries_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Request > request, std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Response > response)

void	switch_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::SwitchController::Request > request, std::shared_ptr< controller_manager_msgs::srv::SwitchController::Response > response)

void	unload_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::UnloadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::UnloadController::Response > response)

void	list_controller_types_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Response > response)

void	list_hardware_components_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListHardwareComponents::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListHardwareComponents::Response > response)

void	set_hardware_component_state_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::SetHardwareComponentState::Request > request, std::shared_ptr< controller_manager_msgs::srv::SetHardwareComponentState::Response > response)

Protected Attributes
unsigned int	update_loop_counter_ = 0

unsigned int	update_rate_

std::vector< std::vector< std::string > >	chained_controllers_configuration_

std::unique_ptr< hardware_interface::ResourceManager >	resource_manager_

Member Function Documentation

◆ activate_controllers()

void controller_manager::ControllerManager::activate_controllers	(	const std::vector< ControllerSpec > &	rt_controller_list,
		const std::vector< std::string >	controllers_to_activate
	)

protected

Activate chosen controllers from real-time controller list.

Activate controllers with names controllers_to_activate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

Parameters

[in]	rt_controller_list	controllers in the real-time list.
[in]	controllers_to_activate	names of the controller that have to be activated.

◆ activate_controllers_asap()

void controller_manager::ControllerManager::activate_controllers_asap	(	const std::vector< ControllerSpec > &	rt_controller_list,
		const std::vector< std::string >	controllers_to_activate
	)

protected

Activate chosen controllers from real-time controller list.

Activate controllers with names controllers_to_activate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

NOTE: There is currently not difference to activate_controllers method. Check https://github.com/ros-controls/ros2_control/issues/263 for more information.

Parameters

[in]	rt_controller_list	controllers in the real-time list.
[in]	controllers_to_activate	names of the controller that have to be activated.

◆ configure_controller()

controller_interface::return_type controller_manager::ControllerManager::configure_controller ( const std::string & controller_name )

configure_controller Configure controller by name calling their "configure" method.

Parameters

[in] controller_name as a string.

Returns: configure controller response

See also: Documentation in controller_manager_msgs/ConfigureController.srv

◆ deactivate_controllers()

void controller_manager::ControllerManager::deactivate_controllers	(	const std::vector< ControllerSpec > &	rt_controller_list,
		const std::vector< std::string >	controllers_to_deactivate
	)

protected

Deactivate chosen controllers from real-time controller list.

Deactivate controllers with names controllers_to_deactivate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

Parameters

[in]	rt_controller_list	controllers in the real-time list.
[in]	controllers_to_deactivate	names of the controller that have to be deactivated.

◆ get_trigger_clock()

rclcpp::Clock::SharedPtr controller_manager::ControllerManager::get_trigger_clock ( ) const

Get the trigger clock of the controller manager.

Get the trigger clock of the controller manager. The method is used to get the clock that is used for triggering the controllers and the hardware components.

Note: When the use_sim_time parameter is set to true, the clock will be the ROS clock. Otherwise, the clock will be the Steady Clock.

Returns: trigger clock of the controller manager.

◆ get_update_rate()

unsigned int controller_manager::ControllerManager::get_update_rate ( ) const

Update rate of the main control loop in the controller manager.

Update rate of the main control loop in the controller manager. The method is used for per-controller update rate support.

Returns: update rate of the controller manager.

◆ is_resource_manager_initialized()

bool controller_manager::ControllerManager::is_resource_manager_initialized ( ) const

inline

Deterministic (real-time safe) callback group, e.g., update function.

Deterministic (real-time safe) callback group for the update function. Default behavior is read hardware, update controller and finally write new values to the hardware. Interface for external components to check if Resource Manager is initialized. Checks if components in Resource Manager are loaded and initialized.

Returns: true if they are initialized, false otherwise.

◆ load_controller()

controller_interface::ControllerInterfaceBaseSharedPtr controller_manager::ControllerManager::load_controller ( const std::string & controller_name )

load_controller loads a controller by name, the type must be defined in the parameter server.

Parameters

[in] controller_name as a string.

Returns: controller

See also: Documentation in controller_manager_msgs/LoadController.srv

◆ read()

void controller_manager::ControllerManager::read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

Read values to state interfaces.

Read current values from hardware to state interfaces. 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 period of the last control loop iteration

◆ shutdown_controllers()

bool controller_manager::ControllerManager::shutdown_controllers ( )

Shutdown all controllers in the controller manager.

Returns: true if all controllers are successfully shutdown, false otherwise.

◆ switch_chained_mode()

void controller_manager::ControllerManager::switch_chained_mode	(	const std::vector< std::string > &	chained_mode_switch_list,
		bool	to_chained_mode
	)

protected

Switch chained mode for all the controllers with respect to the following cases:

a preceding controller is getting activated --> switch controller to chained mode;
all preceding controllers are deactivated --> switch controller from chained mode.

Parameters

[in]	chained_mode_switch_list	list of controller to switch chained mode.
[in]	to_chained_mode	flag if controller should be switched to or from chained mode.

◆ switch_controller()

controller_interface::return_type controller_manager::ControllerManager::switch_controller	(	const std::vector< std::string > &	activate_controllers,
		const std::vector< std::string > &	deactivate_controllers,
		int	strictness,
		bool	activate_asap = `kWaitForAllResources`,
		const rclcpp::Duration &	timeout = `rclcpp::Duration::from_nanoseconds(kInfiniteTimeout)`
	)

switch_controller Deactivates some controllers and activates others.

Parameters

[in]	activate_controllers	is a list of controllers to activate.
[in]	deactivate_controllers	is a list of controllers to deactivate.
[in]	set	level of strictness (BEST_EFFORT or STRICT)
[in]	activate_asap	flag to activate controllers as soon as possible.
[in]	timeout	to wait for the controllers to be switched.

See also: Documentation in controller_manager_msgs/SwitchController.srv

◆ switch_controller_cb()

controller_interface::return_type controller_manager::ControllerManager::switch_controller_cb	(	const std::vector< std::string > &	activate_controllers,
		const std::vector< std::string > &	deactivate_controllers,
		int	strictness,
		bool	activate_asap,
		const rclcpp::Duration &	timeout,
		std::string &	message
	)

switch_controller Deactivates some controllers and activates others.

Parameters

[in]	activate_controllers	is a list of controllers to activate.
[in]	deactivate_controllers	is a list of controllers to deactivate.
[in]	set	level of strictness (BEST_EFFORT or STRICT)
[in]	activate_asap	flag to activate controllers as soon as possible.
[in]	timeout	to wait for the controllers to be switched.
[out]	message	describing the result of the switch.

See also: Documentation in controller_manager_msgs/SwitchController.srv

◆ update()

controller_interface::return_type controller_manager::ControllerManager::update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

Run update on controllers.

Call update of all controllers. 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 period of the last control loop iteration

Note: The factor 0.99 is used to avoid the controllers skipping update cycles due to the jitter in the system sleep cycles.

◆ write()

void controller_manager::ControllerManager::write	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

Write values from command interfaces.

Write values from command interface into hardware. 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 period of the last control loop iteration

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

ros2_control/controller_manager/include/controller_manager/controller_manager.hpp
ros2_control/controller_manager/src/controller_manager.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ activate_controllers()

◆ activate_controllers_asap()

◆ configure_controller()

◆ deactivate_controllers()

◆ get_trigger_clock()

◆ get_update_rate()

◆ is_resource_manager_initialized()

◆ load_controller()

◆ read()

◆ shutdown_controllers()

◆ switch_chained_mode()

◆ switch_controller()

◆ switch_controller_cb()

◆ update()

◆ write()