ros2_control - rolling
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
forward_command_controller::ForwardControllersBase Class Referenceabstract

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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Public Member Functions

FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override
 Get configuration for controller's required command interfaces. More...
 
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override
 Get configuration for controller's required state interfaces. More...
 
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init () override
 Extending interface with initialization method which is individual for each controller.
 
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override
 
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override
 
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override
 
FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override
 
- Public Member Functions inherited from controller_interface::ControllerInterface
CONTROLLER_INTERFACE_PUBLIC bool is_chainable () const final
 
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
 
- 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 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::RealtimeBuffer< std::shared_ptr< CmdType > > rt_command_ptr_
 
rclcpp::Subscription< CmdType >::SharedPtr joints_command_subscriber_
 
- Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterfacecommand_interfaces_
 
std::vector< hardware_interface::LoanedStateInterfacestate_interfaces_
 

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:

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::MultiInterfaceForwardCommandController, and forward_command_controller::ForwardCommandController.

◆ 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::MultiInterfaceForwardCommandController, and forward_command_controller::ForwardCommandController.

◆ 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]timeThe time at the start of this control loop iteration
[in]periodThe 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: