Inheritance diagram for motion_primitives_controllers::MotionPrimitivesForwardController:

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Collaboration diagram for motion_primitives_controllers::MotionPrimitivesForwardController:

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Public Member Functions
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::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override

Public Member Functions inherited from motion_primitives_controllers::MotionPrimitivesBaseController
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::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

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
using	ExecuteMotionAction = control_msgs::action::ExecuteMotionPrimitiveSequence

using	RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< ExecuteMotionAction >

Protected Types inherited from motion_primitives_controllers::MotionPrimitivesBaseController
using	MotionPrimitive = control_msgs::msg::MotionPrimitive

Protected Member Functions
rclcpp_action::GoalResponse	goal_received_callback (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const ExecuteMotionAction::Goal > goal)

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

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

Protected Member Functions inherited from motion_primitives_controllers::MotionPrimitivesBaseController
void	reset_command_interfaces ()

bool	set_command_interfaces ()

Protected Attributes
std::shared_ptr< motion_primitives_forward_controller::ParamListener >	param_listener_

motion_primitives_forward_controller::Params	params_

rclcpp_action::Server< ExecuteMotionAction >::SharedPtr	action_server_

realtime_tools::RealtimeThreadSafeBox< std::shared_ptr< RealtimeGoalHandle > >	rt_goal_handle_

Protected Attributes inherited from motion_primitives_controllers::MotionPrimitivesBaseController
std::string	tf_prefix_

realtime_tools::LockFreeSPSCQueue< MotionPrimitive, 1024 >	moprim_queue_

std::atomic< bool >	has_active_goal_ = false

rclcpp::TimerBase::SharedPtr	goal_handle_timer_

rclcpp::Duration	action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20))

bool	print_error_once_ = true

std::atomic< bool >	cancel_requested_ = false

std::atomic< bool >	robot_stop_requested_ = false

bool	was_executing_ = false

ExecutionState	execution_status_

ReadyForNewPrimitive	ready_for_new_primitive_

MotionPrimitive	current_moprim_

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

◆ on_init()

controller_interface::CallbackReturn motion_primitives_controllers::MotionPrimitivesForwardController::on_init ( )

overridevirtual

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

Reimplemented from motion_primitives_controllers::MotionPrimitivesBaseController.

◆ update()

controller_interface::return_type motion_primitives_controllers::MotionPrimitivesForwardController::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.

Reimplemented from motion_primitives_controllers::MotionPrimitivesBaseController.

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

ros2_controllers/motion_primitives_controllers/include/motion_primitives_controllers/motion_primitives_forward_controller.hpp
ros2_controllers/motion_primitives_controllers/src/motion_primitives_forward_controller.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ on_init()

◆ update()