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
JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	command_interface_configuration

JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	command_interface_configuration

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

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

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

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

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

JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override

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

JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn	on_shutdown (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 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
JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	topic_callback (const std::shared_ptr< trajectory_msgs::msg::JointTrajectory > msg)

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

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

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

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

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

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

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

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

JOINT_TRAJECTORY_CONTROLLER_PUBLIC 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

JOINT_TRAJECTORY_CONTROLLER_PUBLIC void	preempt_active_goal ()

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

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

JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool	reset ()

JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool	has_active_trajectory () const

JOINT_TRAJECTORY_CONTROLLER_PUBLIC 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_

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_

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

InterfaceReferences< hardware_interface::LoanedCommandInterface >	joint_command_interface_

InterfaceReferences< hardware_interface::LoanedStateInterface >	joint_state_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_

double	cmd_timeout_

realtime_tools::RealtimeBuffer< bool >	rt_is_holding_

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 >	traj_external_point_ptr_ = nullptr

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

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

rclcpp::Publisher< ControllerStateMsg >::SharedPtr	publisher_

StatePublisherPtr	state_publisher_

rclcpp_action::Server< FollowJTrajAction >::SharedPtr	action_server_

RealtimeGoalHandleBuffer	rt_active_goal_
	Currently active action goal, if any.

realtime_tools::RealtimeBuffer< bool >	rt_has_pending_goal_
	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_

Member Function Documentation

◆ 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

◆ 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

◆ compute_error_for_joint()

◆ on_init()

◆ read_state_from_command_interfaces()

◆ set_success_trajectory_point()

◆ update()

Member Data Documentation

◆ allowed_interface_types_

◆ interpolation_method_

◆ joint_command_subscriber_