Inheritance diagram for gz_ros2_control::GazeboSimSystem:

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Collaboration diagram for gz_ros2_control::GazeboSimSystem:

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Public Member Functions
CallbackReturn	on_init (const hardware_interface::HardwareInfo &system_info) override
	Initialization of the hardware interface from data parsed from the robot's URDF. More...

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

std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this hardware interface. More...

std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this hardware interface. More...

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

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

hardware_interface::return_type	perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override

hardware_interface::return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Read the current state values from the actuator. More...

hardware_interface::return_type	write (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Write the current command values to the actuator. More...

bool	initSim (rclcpp::Node::SharedPtr &model_nh, std::map< std::string, sim::Entity > &joints, const hardware_interface::HardwareInfo &hardware_info, sim::EntityComponentManager &_ecm, unsigned int update_rate) override
	Initialize the system interface param[in] model_nh Pointer to the ros2 node param[in] joints Map with the name of the joint as the key and the value is related with the entity in Gazebo param[in] hardware_info structure with data from URDF. param[in] _ecm Entity-component manager. param[in] update_rate controller update rate.

Public Member Functions inherited from hardware_interface::SystemInterface
	SystemInterface (const SystemInterface &other)=delete
	SystemInterface copy constructor is actively deleted. More...

	SystemInterface (SystemInterface &&other)=default

CallbackReturn	init (const HardwareInfo &hardware_info, rclcpp::Logger logger, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface)

virtual std::vector< hardware_interface::InterfaceDescription >	export_unlisted_state_interface_descriptions ()

virtual std::vector< StateInterface::ConstSharedPtr >	on_export_state_interfaces ()

virtual std::vector< hardware_interface::InterfaceDescription >	export_unlisted_command_interface_descriptions ()

virtual std::vector< CommandInterface::SharedPtr >	on_export_command_interfaces ()

virtual return_type	prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
	Prepare for a new command interface switch. More...

return_type	trigger_read (const rclcpp::Time &time, const rclcpp::Duration &period)
	Triggers the read method synchronously or asynchronously depending on the HardwareInfo. More...

return_type	trigger_write (const rclcpp::Time &time, const rclcpp::Duration &period)
	Triggers the write method synchronously or asynchronously depending on the HardwareInfo. More...

virtual std::string	get_name () const
	Get name of the actuator hardware. More...

virtual std::string	get_group_name () const
	Get name of the actuator hardware group to which it belongs to. More...

const rclcpp_lifecycle::State &	get_lifecycle_state () const
	Get life-cycle state of the actuator hardware. More...

void	set_lifecycle_state (const rclcpp_lifecycle::State &new_state)
	Set life-cycle state of the actuator hardware. More...

void	set_state (const std::string &interface_name, const double &value)

double	get_state (const std::string &interface_name) const

void	set_command (const std::string &interface_name, const double &value)

double	get_command (const std::string &interface_name) const

rclcpp::Logger	get_logger () const
	Get the logger of the SystemInterface. More...

rclcpp::Clock::SharedPtr	get_clock () const
	Get the clock of the SystemInterface. More...

const HardwareInfo &	get_hardware_info () const
	Get the hardware info of the SystemInterface. More...

Additional Inherited Members
Public Types inherited from gz_ros2_control::GazeboSimSystemInterface
enum	ControlMethod_ { NONE = 0 , POSITION = (1 << 0) , VELOCITY = (1 << 1) , EFFORT = (1 << 2) }

typedef SafeEnum< enum ControlMethod_ >	ControlMethod

Protected Attributes inherited from gz_ros2_control::GazeboSimSystemInterface
rclcpp::Node::SharedPtr	nh_

Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_

std::unordered_map< std::string, InterfaceDescription >	joint_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	joint_command_interfaces_

std::unordered_map< std::string, InterfaceDescription >	sensor_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	gpio_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	gpio_command_interfaces_

std::unordered_map< std::string, InterfaceDescription >	unlisted_state_interfaces_

std::unordered_map< std::string, InterfaceDescription >	unlisted_command_interfaces_

rclcpp_lifecycle::State	lifecycle_state_

std::unique_ptr< realtime_tools::AsyncFunctionHandler< return_type > >	async_handler_

std::vector< StateInterface::SharedPtr >	joint_states_

std::vector< CommandInterface::SharedPtr >	joint_commands_

std::vector< StateInterface::SharedPtr >	sensor_states_

std::vector< StateInterface::SharedPtr >	gpio_states_

std::vector< CommandInterface::SharedPtr >	gpio_commands_

std::vector< StateInterface::SharedPtr >	unlisted_states_

std::vector< CommandInterface::SharedPtr >	unlisted_commands_

Member Function Documentation

◆ export_command_interfaces()

std::vector< hardware_interface::CommandInterface > gz_ros2_control::GazeboSimSystem::export_command_interfaces ( )

overridevirtual

Exports all command interfaces for this hardware interface.

Old way of exporting the CommandInterfaces. If a empty vector is returned then the on_export_command_interfaces() method is called. If a vector with CommandInterfaces is returned then the exporting of the CommandInterfaces is only done with this function and the ownership is transferred to the resource manager. The set_command(...), get_command(...), ..., can then not be used.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of state interfaces

Reimplemented from hardware_interface::SystemInterface.

◆ export_state_interfaces()

std::vector< hardware_interface::StateInterface > gz_ros2_control::GazeboSimSystem::export_state_interfaces ( )

overridevirtual

Exports all state interfaces for this hardware interface.

Old way of exporting the StateInterfaces. If a empty vector is returned then the on_export_state_interfaces() method is called. If a vector with StateInterfaces is returned then the exporting of the StateInterfaces is only done with this function and the ownership is transferred to the resource manager. The set_command(...), get_command(...), ..., can then not be used.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of state interfaces

Reimplemented from hardware_interface::SystemInterface.

◆ on_init()

CallbackReturn gz_ros2_control::GazeboSimSystem::on_init ( const hardware_interface::HardwareInfo & hardware_info )

overridevirtual

Initialization of the hardware interface from data parsed from the robot's URDF.

Parameters

[in] hardware_info structure with data from URDF.

Returns: CallbackReturn::SUCCESS if required data are provided and can be parsed.; CallbackReturn::ERROR if any error happens or data are missing.

Reimplemented from hardware_interface::SystemInterface.

◆ perform_command_mode_switch()

hardware_interface::return_type gz_ros2_control::GazeboSimSystem::perform_command_mode_switch	(	const std::vector< std::string > &	,
		const std::vector< std::string > &
	)

overridevirtual

Perform the mode-switching for the new command interface combination.

Note: This is part of the realtime update loop, and should be fast.; All starting and stopping interface keys are passed to all components, so the function should return return_type::OK by default when given interface keys not relevant for this component.

Parameters

[in]	start_interfaces	vector of string identifiers for the command interfaces starting.
[in]	stop_interfaces	vector of string identifiers for the command interfaces stopping.

Returns: return_type::OK if the new command interface combination can be switched to, or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.

Reimplemented from hardware_interface::SystemInterface.

◆ read()

hardware_interface::return_type gz_ros2_control::GazeboSimSystem::read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Read the current state values from the actuator.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

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: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ write()

hardware_interface::return_type gz_ros2_control::GazeboSimSystem::write	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Write the current command values to the actuator.

The physical hardware shall be updated with the latest value from the exported command interfaces.

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: return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

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

gz_ros2_control/gz_ros2_control/include/gz_ros2_control/gz_system.hpp
gz_ros2_control/gz_ros2_control/src/gz_system.cpp

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ export_command_interfaces()

◆ export_state_interfaces()

◆ on_init()

◆ perform_command_mode_switch()

◆ read()

◆ write()