Inheritance diagram for hardware_interface::SensorInterface:

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Collaboration diagram for hardware_interface::SensorInterface:

Public Member Functions
	SensorInterface (const SensorInterface &other)=delete
	SensorInterface copy constructor is actively deleted. More...

	SensorInterface (SensorInterface &&other)=default

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

virtual CallbackReturn	on_init (const HardwareInfo &hardware_info)
	Initialization of the hardware interface from data parsed from the robot's URDF. More...

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

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

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

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

virtual return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period)=0
	Read the current state values from the actuator. 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

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

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

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

Protected Attributes
HardwareInfo	info_

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

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

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

std::vector< StateInterface::SharedPtr >	joint_states_

std::vector< StateInterface::SharedPtr >	sensor_states_

std::vector< StateInterface::SharedPtr >	unlisted_states_

rclcpp_lifecycle::State	lifecycle_state_

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

Constructor & Destructor Documentation

◆ SensorInterface()

hardware_interface::SensorInterface::SensorInterface ( const SensorInterface & other )

delete

SensorInterface copy constructor is actively deleted.

Hardware interfaces are having a unique ownership and thus can't be copied in order to avoid failed or simultaneous access to hardware.

Member Function Documentation

◆ export_state_interfaces()

virtual std::vector<StateInterface> hardware_interface::SensorInterface::export_state_interfaces ( )

inlinevirtual

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 in ros2_control_demo_example_14::RRBotSensorPositionFeedback.

◆ export_unlisted_state_interface_descriptions()

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

inlinevirtual

Override this method to export custom StateInterfaces which are not defined in the URDF file. Those interfaces will be added to the unlisted_state_interfaces_ map.

Returns: vector of descriptions to the unlisted StateInterfaces

◆ get_clock()

rclcpp::Clock::SharedPtr hardware_interface::SensorInterface::get_clock ( ) const

inline

Get the clock of the SensorInterface.

Returns: clock of the SensorInterface.

◆ get_group_name()

virtual std::string hardware_interface::SensorInterface::get_group_name ( ) const

inlinevirtual

Get name of the actuator hardware group to which it belongs to.

Returns: group name.

◆ get_hardware_info()

const HardwareInfo& hardware_interface::SensorInterface::get_hardware_info ( ) const

inline

Get the hardware info of the SensorInterface.

Returns: hardware info of the SensorInterface.

◆ get_lifecycle_state()

const rclcpp_lifecycle::State& hardware_interface::SensorInterface::get_lifecycle_state ( ) const

inline

Get life-cycle state of the actuator hardware.

Returns: state.

◆ get_logger()

rclcpp::Logger hardware_interface::SensorInterface::get_logger ( ) const

inline

Get the logger of the SensorInterface.

Returns: logger of the SensorInterface.

◆ get_name()

virtual std::string hardware_interface::SensorInterface::get_name ( ) const

inlinevirtual

Get name of the actuator hardware.

Returns: name.

◆ init()

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

inline

Initialization of the hardware interface from data parsed from the robot's URDF and also the clock and logger interfaces.

Parameters

[in]	hardware_info	structure with data from URDF.
[in]	clock_interface	pointer to the clock interface.
[in]	logger_interface	pointer to the logger interface.

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

◆ on_export_state_interfaces()

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

inlinevirtual

Default implementation for exporting the StateInterfaces. The StateInterfaces are created according to the InterfaceDescription. The memory accessed by the controllers and hardware is assigned here and resides in the sensor_interface.

Returns: vector of shared pointers to the created and stored StateInterfaces

◆ on_init()

virtual CallbackReturn hardware_interface::SensorInterface::on_init ( const HardwareInfo & hardware_info )

inlinevirtual

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 in ros2_control_demo_example_5::ExternalRRBotForceTorqueSensorHardware, and ros2_control_demo_example_14::RRBotSensorPositionFeedback.

◆ read()

virtual return_type hardware_interface::SensorInterface::read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

pure virtual

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.

Implemented in ros2_control_demo_example_5::ExternalRRBotForceTorqueSensorHardware, and ros2_control_demo_example_14::RRBotSensorPositionFeedback.

◆ set_lifecycle_state()

void hardware_interface::SensorInterface::set_lifecycle_state ( const rclcpp_lifecycle::State & new_state )

inline

Set life-cycle state of the actuator hardware.

Returns: state.

◆ trigger_read()

return_type hardware_interface::SensorInterface::trigger_read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

inline

Triggers the read method synchronously or asynchronously depending on the HardwareInfo.

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.

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

ros2_control/hardware_interface/include/hardware_interface/sensor_interface.hpp

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ SensorInterface()

Member Function Documentation

◆ export_state_interfaces()

◆ export_unlisted_state_interface_descriptions()

◆ get_clock()

◆ get_group_name()

◆ get_hardware_info()

◆ get_lifecycle_state()

◆ get_logger()

◆ get_name()

◆ init()

◆ on_export_state_interfaces()

◆ on_init()

◆ read()

◆ set_lifecycle_state()

◆ trigger_read()