Forward command controller for a set of joints and interfaces. More...

#include <forward_controllers_base.hpp>

Inheritance diagram for forward_command_controller::ForwardControllersBase:

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Collaboration diagram for forward_command_controller::ForwardControllersBase:

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Public Member Functions
controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces.

controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces.

controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.

controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

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

Public Member Functions inherited from controller_interface::ControllerInterface
bool	is_chainable () const final

std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final

std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces () final

bool	set_chained_mode (bool chained_mode) final

bool	is_in_chained_mode () const final

Public Member Functions inherited from controller_interface::ControllerInterfaceBase
virtual 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.

virtual void	release_interfaces ()
	Method that releases the Loaned interfaces from the controller.

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)

return_type	init (const controller_interface::ControllerInterfaceParams &params)

const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.

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

std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()

std::shared_ptr< const rclcpp_lifecycle::LifecycleNode >	get_node () const

const rclcpp_lifecycle::State &	get_lifecycle_state () const

unsigned int	get_update_rate () const

bool	is_async () const

const std::string &	get_robot_description () const

const std::unordered_map< std::string, joint_limits::JointLimits > &	get_hard_joint_limits () const

const std::unordered_map< std::string, joint_limits::SoftJointLimits > &	get_soft_joint_limits () const

virtual 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.

void	wait_for_trigger_update_to_finish ()

void	prepare_for_deactivation ()

std::string	get_name () const

void	enable_introspection (bool enable)
	Enable or disable introspection of the controller.

Protected Member Functions
virtual void	declare_parameters ()=0

virtual controller_interface::CallbackReturn	read_parameters ()=0

Protected Attributes
std::vector< std::string >	joint_names_

std::string	interface_name_

std::vector< std::string >	command_interface_types_

realtime_tools::RealtimeThreadSafeBox< CmdType >	rt_command_

CmdType	joint_commands_

rclcpp::Subscription< CmdType >::SharedPtr	joints_command_subscriber_

Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

pal_statistics::RegistrationsRAII	stats_registrations_

Detailed Description

Forward command controller for a set of joints and interfaces.

This class forwards the command signal down to a set of joints or interfaces.

Subscribes to:

commands (std_msgs::msg::Float64MultiArray) : The commands to apply.

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration forward_command_controller::ForwardControllersBase::command_interface_configuration ( ) const

overridevirtual

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.

Implements controller_interface::ControllerInterfaceBase.

◆ declare_parameters()

virtual void forward_command_controller::ForwardControllersBase::declare_parameters ( )

protectedpure virtual

Derived controllers have to declare parameters in this method. Error handling does not have to be done. It is done in on_init-method of this class.

Implemented in forward_command_controller::ForwardCommandController, and forward_command_controller::MultiInterfaceForwardCommandController.

◆ on_init()

controller_interface::CallbackReturn forward_command_controller::ForwardControllersBase::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

Implements controller_interface::ControllerInterfaceBase.

Reimplemented in effort_controllers::JointGroupEffortController, position_controllers::JointGroupPositionController, and velocity_controllers::JointGroupVelocityController.

◆ read_parameters()

virtual controller_interface::CallbackReturn forward_command_controller::ForwardControllersBase::read_parameters ( )

protectedpure virtual

Derived controllers have to read parameters in this method and set command_interface_types_ variable. The variable is then used to propagate the command interface configuration to controller manager. The method is called from on_configure-method of this class.

It is expected that error handling of exceptions is done.

Returns: controller_interface::CallbackReturn::SUCCESS if parameters are successfully read and their values are allowed, controller_interface::CallbackReturn::ERROR otherwise.

Implemented in forward_command_controller::ForwardCommandController, and forward_command_controller::MultiInterfaceForwardCommandController.

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration forward_command_controller::ForwardControllersBase::state_interface_configuration ( ) const

overridevirtual

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.

Implements controller_interface::ControllerInterfaceBase.

◆ update()

controller_interface::return_type forward_command_controller::ForwardControllersBase::update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

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.

Implements controller_interface::ControllerInterfaceBase.

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

ros2_controllers/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp
ros2_controllers/forward_command_controller/src/forward_controllers_base.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ command_interface_configuration()

◆ declare_parameters()

◆ on_init()

◆ read_parameters()

◆ state_interface_configuration()

◆ update()