Joint State Broadcaster for all or some state in a ros2_control system. More...

#include <joint_state_broadcaster.hpp>

Inheritance diagram for joint_state_broadcaster::JointStateBroadcaster:

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Collaboration diagram for joint_state_broadcaster::JointStateBroadcaster:

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Public Member Functions
JOINT_STATE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces. More...

JOINT_STATE_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces. More...

JOINT_STATE_BROADCASTER_PUBLIC controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override

JOINT_STATE_BROADCASTER_PUBLIC controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.

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

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

JOINT_STATE_BROADCASTER_PUBLIC controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) 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
bool	init_joint_data ()

void	init_joint_state_msg ()

void	init_dynamic_joint_state_msg ()

bool	use_all_available_interfaces () const

Protected Attributes
std::shared_ptr< ParamListener >	param_listener_

Params	params_

std::unordered_map< std::string, std::string >	map_interface_to_joint_state_

std::vector< std::string >	joint_names_

std::shared_ptr< rclcpp::Publisher< sensor_msgs::msg::JointState > >	joint_state_publisher_

std::shared_ptr< realtime_tools::RealtimePublisher< sensor_msgs::msg::JointState > >	realtime_joint_state_publisher_

std::unordered_map< std::string, std::unordered_map< std::string, double > >	name_if_value_mapping_

std::shared_ptr< rclcpp::Publisher< control_msgs::msg::DynamicJointState > >	dynamic_joint_state_publisher_

std::shared_ptr< realtime_tools::RealtimePublisher< control_msgs::msg::DynamicJointState > >	realtime_dynamic_joint_state_publisher_

urdf::Model	model_

bool	is_model_loaded_ = false

Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

Detailed Description

Joint State Broadcaster for all or some state in a ros2_control system.

JointStateBroadcaster publishes state interfaces from ros2_control as ROS messages. There is a possibility to publish all available states (typical use), or only specific ones. The latter is, for example, used when hardware provides multiple measurement sources for some of its states, e.g., position. It is possible to define a mapping of measurements from different sources stored in custom interfaces to standard dynamic names in JointState message. If "joints" or "interfaces" parameter is empty, all available states are published.

Parameters

use_local_topics	Flag to publish topics in local namespace.
joints	Names of the joints to publish.
interfaces	Names of interfaces to publish.
map_interface_to_joint_state.{HW_IF_POSITION\|HW_IF_VELOCITY\|HW_IF_EFFORT}	mapping between custom interface names and standard names in sensor_msgs::msg::JointState message.

Publishes to:

joint_states (sensor_msgs::msg::JointState): Joint states related to movement (position, velocity, effort).
dynamic_joint_states (control_msgs::msg::DynamicJointState): Joint states regardless of its interface type.

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration joint_state_broadcaster::JointStateBroadcaster::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.

◆ init_joint_state_msg()

void joint_state_broadcaster::JointStateBroadcaster::init_joint_state_msg ( )

protected

Note: joint_state_msg publishes position, velocity and effort for all joints, with at least one of these interfaces, the rest are omitted from this message

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration joint_state_broadcaster::JointStateBroadcaster::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 joint_state_broadcaster::JointStateBroadcaster::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]	time	The time at the start of this control loop iteration
[in]	period	The 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:

ros2_controllers/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
ros2_controllers/joint_state_broadcaster/src/joint_state_broadcaster.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ command_interface_configuration()

◆ init_joint_state_msg()

◆ state_interface_configuration()

◆ update()