Inheritance diagram for joint_trajectory_controller::JointTrajectoryController:

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Collaboration diagram for joint_trajectory_controller::JointTrajectoryController:

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

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

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

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

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

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

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

controller_interface::CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override

Public Member Functions inherited from controller_interface::ControllerInterface
bool	is_chainable () const final

std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final

std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces () final

bool	set_chained_mode (bool chained_mode) final

bool	is_in_chained_mode () const final

Public Member Functions inherited from controller_interface::ControllerInterfaceBase
virtual 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.

virtual void	release_interfaces ()
	Method that releases the Loaned interfaces from the controller.

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)

return_type	init (const controller_interface::ControllerInterfaceParams &params)

const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.

ControllerUpdateStatus	trigger_update (const rclcpp::Time &time, const rclcpp::Duration &period)

std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()

std::shared_ptr< const rclcpp_lifecycle::LifecycleNode >	get_node () const

const rclcpp_lifecycle::State &	get_lifecycle_state () const

unsigned int	get_update_rate () const

bool	is_async () const

const std::string &	get_robot_description () const

const std::unordered_map< std::string, joint_limits::JointLimits > &	get_hard_joint_limits () const

const std::unordered_map< std::string, joint_limits::SoftJointLimits > &	get_soft_joint_limits () const

virtual 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.

void	wait_for_trigger_update_to_finish ()

void	prepare_for_deactivation ()

std::string	get_name () const

void	enable_introspection (bool enable)
	Enable or disable introspection of the controller.

Protected Types
template<typename T >
using	InterfaceReferences = std::vector< std::vector< std::reference_wrapper< T > > >

using	PidPtr = std::shared_ptr< control_toolbox::Pid >

using	ControllerStateMsg = control_msgs::msg::JointTrajectoryControllerState

using	StatePublisher = realtime_tools::RealtimePublisher< ControllerStateMsg >

using	StatePublisherPtr = std::unique_ptr< StatePublisher >

using	FollowJTrajAction = control_msgs::action::FollowJointTrajectory

using	RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< FollowJTrajAction >

using	RealtimeGoalHandlePtr = std::shared_ptr< RealtimeGoalHandle >

using	RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer< RealtimeGoalHandlePtr >

using	JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint

Protected Member Functions
void	topic_callback (const std::shared_ptr< trajectory_msgs::msg::JointTrajectory > msg)

rclcpp_action::GoalResponse	goal_received_callback (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const FollowJTrajAction::Goal > goal)

rclcpp_action::CancelResponse	goal_cancelled_callback (const std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJTrajAction > > goal_handle)

void	goal_accepted_callback (std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJTrajAction > > goal_handle)

void	compute_error_for_joint (JointTrajectoryPoint &error, const size_t index, const JointTrajectoryPoint &current, const JointTrajectoryPoint &desired) const

void	fill_partial_goal (std::shared_ptr< trajectory_msgs::msg::JointTrajectory > trajectory_msg) const

void	sort_to_local_joint_order (std::shared_ptr< trajectory_msgs::msg::JointTrajectory > trajectory_msg) const

bool	validate_trajectory_msg (const trajectory_msgs::msg::JointTrajectory &trajectory) const

void	add_new_trajectory_msg (const std::shared_ptr< trajectory_msgs::msg::JointTrajectory > &traj_msg)

bool	validate_trajectory_point_field (size_t joint_names_size, const std::vector< double > &vector_field, const std::string &string_for_vector_field, size_t i, bool allow_empty) const

void	preempt_active_goal ()

std::shared_ptr< trajectory_msgs::msg::JointTrajectory >	set_hold_position ()
	set the current position with zero velocity and acceleration as new command

std::shared_ptr< trajectory_msgs::msg::JointTrajectory >	set_success_trajectory_point ()
	set last trajectory point to be repeated at success

bool	reset ()

bool	has_active_trajectory () const

void	publish_state (const rclcpp::Time &time, const JointTrajectoryPoint &desired_state, const JointTrajectoryPoint &current_state, const JointTrajectoryPoint &state_error)

void	read_state_from_state_interfaces (JointTrajectoryPoint &state)

bool	read_state_from_command_interfaces (JointTrajectoryPoint &state)

bool	read_commands_from_command_interfaces (JointTrajectoryPoint &commands)

void	query_state_service (const std::shared_ptr< control_msgs::srv::QueryTrajectoryState::Request > request, std::shared_ptr< control_msgs::srv::QueryTrajectoryState::Response > response)

Protected Attributes
const std::vector< std::string >	allowed_interface_types_

trajectory_msgs::msg::JointTrajectoryPoint	state_current_

trajectory_msgs::msg::JointTrajectoryPoint	command_current_

trajectory_msgs::msg::JointTrajectoryPoint	command_next_

trajectory_msgs::msg::JointTrajectoryPoint	state_desired_

trajectory_msgs::msg::JointTrajectoryPoint	state_error_

size_t	dof_

size_t	num_cmd_joints_

std::vector< size_t >	map_cmd_to_joints_

std::vector< std::string >	command_joint_names_

std::shared_ptr< ParamListener >	param_listener_

Params	params_

rclcpp::Duration	update_period_ {0, 0}

rclcpp::Time	traj_time_

trajectory_msgs::msg::JointTrajectoryPoint	last_commanded_state_

rclcpp::Time	last_commanded_time_

interpolation_methods::InterpolationMethod	interpolation_method_
	Specify interpolation method. Default to splines.

InterfaceReferences< hardware_interface::LoanedCommandInterface >	joint_command_interface_

InterfaceReferences< hardware_interface::LoanedStateInterface >	joint_state_interface_

std::optional< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	scaling_state_interface_

std::optional< std::reference_wrapper< hardware_interface::LoanedCommandInterface > >	scaling_command_interface_

bool	has_position_state_interface_ = false

bool	has_velocity_state_interface_ = false

bool	has_acceleration_state_interface_ = false

bool	has_position_command_interface_ = false

bool	has_velocity_command_interface_ = false

bool	has_acceleration_command_interface_ = false

bool	has_effort_command_interface_ = false

bool	use_closed_loop_pid_adapter_ = false
	If true, a velocity feedforward term plus corrective PID term is used.

std::vector< PidPtr >	pids_

std::vector< double >	ff_velocity_scale_

std::vector< bool >	joints_angle_wraparound_

std::vector< double >	tmp_command_

std::atomic< double >	scaling_factor_ {1.0}

std::atomic< double >	scaling_factor_cmd_ {1.0}

double	cmd_timeout_

std::atomic< bool >	rt_is_holding_ {false}

std::atomic< bool >	subscriber_is_active_ {false}

rclcpp::Subscription< trajectory_msgs::msg::JointTrajectory >::SharedPtr	joint_command_subscriber_

rclcpp::Service< control_msgs::srv::QueryTrajectoryState >::SharedPtr	query_state_srv_

std::shared_ptr< Trajectory >	current_trajectory_ = nullptr

realtime_tools::RealtimeBuffer< std::shared_ptr< trajectory_msgs::msg::JointTrajectory > >	new_trajectory_msg_

std::shared_ptr< trajectory_msgs::msg::JointTrajectory >	hold_position_msg_ptr_ = nullptr

rclcpp::Publisher< ControllerStateMsg >::SharedPtr	publisher_

StatePublisherPtr	state_publisher_

ControllerStateMsg	state_msg_

RealtimeGoalHandleBuffer	rt_active_goal_
	Currently active action goal, if any.

rclcpp_action::Server< FollowJTrajAction >::SharedPtr	action_server_

std::atomic< bool >	rt_has_pending_goal_ {false}
	Is there a pending action goal?

rclcpp::TimerBase::SharedPtr	goal_handle_timer_

rclcpp::Duration	action_monitor_period_ = rclcpp::Duration(50ms)

SegmentTolerances	default_tolerances_

realtime_tools::RealtimeBuffer< SegmentTolerances >	active_tolerances_

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

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

pal_statistics::RegistrationsRAII	stats_registrations_

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration joint_trajectory_controller::JointTrajectoryController::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.

◆ compute_error_for_joint()

void joint_trajectory_controller::JointTrajectoryController::compute_error_for_joint	(	JointTrajectoryPoint &	error,
		const size_t	index,
		const JointTrajectoryPoint &	current,
		const JointTrajectoryPoint &	desired
	)		const

protected

Computes the error for a specific joint in the trajectory.

Parameters

[out]	error	The computed error for the joint.
[in]	index	The index of the joint in the trajectory.
[in]	current	The current state of the joints.
[in]	desired	The desired state of the joints.

◆ on_init()

controller_interface::CallbackReturn joint_trajectory_controller::JointTrajectoryController::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

initialize the URDF model and update the joint angles wraparound vector

Implements controller_interface::ControllerInterfaceBase.

◆ read_state_from_command_interfaces()

bool joint_trajectory_controller::JointTrajectoryController::read_state_from_command_interfaces ( JointTrajectoryPoint & state )

protected

Assign values from the command interfaces as state. This is only possible if command AND state interfaces exist for the same type, therefore needs check for both.

Parameters

[out] state to be filled with values from command interfaces.

Returns: true if all interfaces exists and contain non-NaN values, false otherwise.

◆ set_success_trajectory_point()

std::shared_ptr< trajectory_msgs::msg::JointTrajectory > joint_trajectory_controller::JointTrajectoryController::set_success_trajectory_point ( )

protected

set last trajectory point to be repeated at success

no matter if it has nonzero velocity or acceleration

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration joint_trajectory_controller::JointTrajectoryController::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_trajectory_controller::JointTrajectoryController::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.

Member Data Documentation

◆ allowed_interface_types_

const std::vector<std::string> joint_trajectory_controller::JointTrajectoryController::allowed_interface_types_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION,
    hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION,
    hardware_interface::HW_IF_EFFORT,
  }

◆ interpolation_method_

interpolation_methods::InterpolationMethod joint_trajectory_controller::JointTrajectoryController::interpolation_method_

protected

Initial value:

{

interpolation_methods::DEFAULT_INTERPOLATION}

Specify interpolation method. Default to splines.

◆ joint_command_subscriber_

rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr joint_trajectory_controller::JointTrajectoryController::joint_command_subscriber_

protected

Initial value:

=

nullptr

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

ros2_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
ros2_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ command_interface_configuration()

◆ compute_error_for_joint()

◆ on_init()

◆ read_state_from_command_interfaces()

◆ set_success_trajectory_point()

◆ state_interface_configuration()

◆ update()

Member Data Documentation

◆ allowed_interface_types_

◆ interpolation_method_

◆ joint_command_subscriber_