Multi interface forward command controller for a set of interfaces. More...

#include <multi_interface_forward_command_controller.hpp>

Inheritance diagram for forward_command_controller::MultiInterfaceForwardCommandController:

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Collaboration diagram for forward_command_controller::MultiInterfaceForwardCommandController:

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Protected Types
using	Params = multi_interface_forward_command_controller::Params

using	ParamListener = multi_interface_forward_command_controller::ParamListener

Protected Member Functions
void	declare_parameters () override

controller_interface::CallbackReturn	read_parameters () override

Protected Attributes
std::shared_ptr< ParamListener >	param_listener_

Params	params_

Protected Attributes inherited from forward_command_controller::ForwardControllersBase
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::LoanedCommandInterface >	command_interfaces_

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

Additional Inherited Members
Public Member Functions inherited from forward_command_controller::ForwardControllersBase
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 ()

Detailed Description

Multi interface forward command controller for a set of interfaces.

This class forwards the command signal down to a set of interfaces on the specified joint.

Parameters

joint	Name of the joint to control.
interface_names	Names of the interfaces to command.

Subscribes to:

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

Member Function Documentation

◆ declare_parameters()

void forward_command_controller::MultiInterfaceForwardCommandController::declare_parameters ( )

overrideprotectedvirtual

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.

Implements forward_command_controller::ForwardControllersBase.

◆ read_parameters()

controller_interface::CallbackReturn forward_command_controller::MultiInterfaceForwardCommandController::read_parameters ( )

overrideprotectedvirtual

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.

Implements forward_command_controller::ForwardControllersBase.

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

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

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ declare_parameters()

◆ read_parameters()