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virtual 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)=0 |
| | 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.
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| | SystemInterface (const SystemInterface &other)=delete |
| | SystemInterface copy constructor is actively deleted. More...
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| SystemInterface (SystemInterface &&other)=default |
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| CallbackReturn | init (const HardwareInfo &hardware_info, rclcpp::Logger logger, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface) |
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| virtual CallbackReturn | on_init (const HardwareInfo &hardware_info) |
| | Initialization of the hardware interface from data parsed from the robot's URDF. More...
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| virtual std::vector< StateInterface > | export_state_interfaces () |
| | Exports all state interfaces for this hardware interface. More...
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| virtual std::vector< hardware_interface::InterfaceDescription > | export_unlisted_state_interface_descriptions () |
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| virtual std::vector< StateInterface::ConstSharedPtr > | on_export_state_interfaces () |
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| virtual std::vector< CommandInterface > | export_command_interfaces () |
| | Exports all command interfaces for this hardware interface. More...
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| virtual std::vector< hardware_interface::InterfaceDescription > | export_unlisted_command_interface_descriptions () |
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| virtual std::vector< CommandInterface::SharedPtr > | on_export_command_interfaces () |
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| 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...
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| virtual return_type | perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &) |
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| return_type | trigger_read (const rclcpp::Time &time, const rclcpp::Duration &period) |
| | Triggers the read method synchronously or asynchronously depending on the HardwareInfo. More...
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| virtual return_type | read (const rclcpp::Time &time, const rclcpp::Duration &period)=0 |
| | Read the current state values from the actuator. More...
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| return_type | trigger_write (const rclcpp::Time &time, const rclcpp::Duration &period) |
| | Triggers the write method synchronously or asynchronously depending on the HardwareInfo. More...
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| virtual return_type | write (const rclcpp::Time &time, const rclcpp::Duration &period)=0 |
| | Write the current command values to the actuator. More...
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| virtual std::string | get_name () const |
| | Get name of the actuator hardware. More...
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| virtual std::string | get_group_name () const |
| | Get name of the actuator hardware group to which it belongs to. More...
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| const rclcpp_lifecycle::State & | get_lifecycle_state () const |
| | Get life-cycle state of the actuator hardware. More...
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| void | set_lifecycle_state (const rclcpp_lifecycle::State &new_state) |
| | Set life-cycle state of the actuator hardware. More...
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void | set_state (const std::string &interface_name, const double &value) |
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double | get_state (const std::string &interface_name) const |
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void | set_command (const std::string &interface_name, const double &value) |
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double | get_command (const std::string &interface_name) const |
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| rclcpp::Logger | get_logger () const |
| | Get the logger of the SystemInterface. More...
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| rclcpp::Clock::SharedPtr | get_clock () const |
| | Get the clock of the SystemInterface. More...
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| const HardwareInfo & | get_hardware_info () const |
| | Get the hardware info of the SystemInterface. More...
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rclcpp::Node::SharedPtr | nh_ |
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HardwareInfo | info_ |
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std::unordered_map< std::string, InterfaceDescription > | joint_state_interfaces_ |
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std::unordered_map< std::string, InterfaceDescription > | joint_command_interfaces_ |
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std::unordered_map< std::string, InterfaceDescription > | sensor_state_interfaces_ |
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std::unordered_map< std::string, InterfaceDescription > | gpio_state_interfaces_ |
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std::unordered_map< std::string, InterfaceDescription > | gpio_command_interfaces_ |
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std::unordered_map< std::string, InterfaceDescription > | unlisted_state_interfaces_ |
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std::unordered_map< std::string, InterfaceDescription > | unlisted_command_interfaces_ |
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rclcpp_lifecycle::State | lifecycle_state_ |
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std::unique_ptr< realtime_tools::AsyncFunctionHandler< return_type > > | async_handler_ |
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std::vector< StateInterface::SharedPtr > | joint_states_ |
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std::vector< CommandInterface::SharedPtr > | joint_commands_ |
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std::vector< StateInterface::SharedPtr > | sensor_states_ |
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std::vector< StateInterface::SharedPtr > | gpio_states_ |
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std::vector< CommandInterface::SharedPtr > | gpio_commands_ |
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std::vector< StateInterface::SharedPtr > | unlisted_states_ |
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std::vector< CommandInterface::SharedPtr > | unlisted_commands_ |
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Public Member Functions inherited from hardware_interface::SystemInterface
1.9.1