ros2_control - rolling
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
passthrough_controller::PassthroughController Class Reference
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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::InterfaceConfiguration command_interface_configuration () const override
 Get configuration for controller's required command interfaces. More...
 
controller_interface::InterfaceConfiguration state_interface_configuration () const override
 Get configuration for controller's required state interfaces. More...
 
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
 
bool on_set_chained_mode (bool chained_mode) override
 Virtual method that each chainable controller should implement to switch chained mode. More...
 
controller_interface::return_type update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override
 Execute calculations of the controller and update command interfaces. More...
 
- Public Member Functions inherited from controller_interface::ChainableControllerInterface
CONTROLLER_INTERFACE_PUBLIC return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) final
 
CONTROLLER_INTERFACE_PUBLIC bool is_chainable () const final
 Get information if a controller is chainable. More...
 
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
 Get information if a controller is currently in chained mode. More...
 
- 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

std::vector< hardware_interface::CommandInterfaceon_export_reference_interfaces () override
 
controller_interface::return_type update_reference_from_subscribers (const rclcpp::Time &time, const rclcpp::Duration &period) override
 Update reference from input topics when not in chained mode. More...
 
- Protected Member Functions inherited from controller_interface::ChainableControllerInterface
virtual std::vector< hardware_interface::StateInterfaceon_export_state_interfaces ()
 

Protected Attributes

std::shared_ptr< ParamListener > param_listener_
 
Params params_
 
realtime_tools::RealtimeBuffer< std::shared_ptr< DataType > > rt_buffer_ptr_
 
rclcpp::Subscription< DataType >::SharedPtr joints_cmd_sub_
 
std::vector< std::string > reference_interface_names_
 
std::vector< std::string > command_interface_names_
 
- Protected Attributes inherited from controller_interface::ChainableControllerInterface
std::vector< std::string > exported_state_interface_names_
 Storage of values for state interfaces.
 
std::vector< hardware_interface::StateInterface::SharedPtr > ordered_exported_state_interfaces_
 
std::unordered_map< std::string, hardware_interface::StateInterface::SharedPtr > exported_state_interfaces_
 
std::vector< double > state_interfaces_values_
 
std::vector< std::string > exported_reference_interface_names_
 Storage of values for reference interfaces.
 
std::vector< double > reference_interfaces_
 
std::vector< hardware_interface::CommandInterface::SharedPtr > ordered_exported_reference_interfaces_
 
std::unordered_map< std::string, hardware_interface::CommandInterface::SharedPtr > exported_reference_interfaces_
 
- Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterfacecommand_interfaces_
 
std::vector< hardware_interface::LoanedStateInterfacestate_interfaces_
 

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration passthrough_controller::PassthroughController::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.

◆ on_export_reference_interfaces()

std::vector< hardware_interface::CommandInterface > passthrough_controller::PassthroughController::on_export_reference_interfaces ( )
overrideprotectedvirtual

Virtual method that each chainable controller should implement to export its read/write chainable interfaces. Each chainable controller implements this methods where all input (command) interfaces are exported. The method has the same meaning as export_command_interface method from hardware_interface::SystemInterface or hardware_interface::ActuatorInterface.

Returns
list of CommandInterfaces that other controller can use as their outputs.

Reimplemented from controller_interface::ChainableControllerInterface.

◆ on_set_chained_mode()

bool passthrough_controller::PassthroughController::on_set_chained_mode ( bool  chained_mode)
overridevirtual

Virtual method that each chainable controller should implement to switch chained mode.

Each chainable controller implements this methods to switch between "chained" and "external" mode. In "chained" mode all external interfaces like subscriber and service servers are disabled to avoid potential concurrency in input commands.

Parameters
[in]flagmarking a switch to or from chained mode.
Returns
true if controller successfully switched between "chained" and "external" mode. \default returns true so the method don't have to be overridden if controller can always switch chained mode.

Reimplemented from controller_interface::ChainableControllerInterface.

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration passthrough_controller::PassthroughController::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_and_write_commands()

controller_interface::return_type passthrough_controller::PassthroughController::update_and_write_commands ( const rclcpp::Time &  time,
const rclcpp::Duration &  period 
)
overridevirtual

Execute calculations of the controller and update command interfaces.

Update method for chainable controllers. In this method is valid to assume that \reference_interfaces_ hold the values for calculation of the commands in the current control step. This means that this method is called after \update_reference_from_subscribers if controller is not in chained mode.

Returns
return_type::OK if calculation and writing of interface is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

◆ update_reference_from_subscribers()

controller_interface::return_type passthrough_controller::PassthroughController::update_reference_from_subscribers ( const rclcpp::Time &  time,
const rclcpp::Duration &  period 
)
overrideprotectedvirtual

Update reference from input topics when not in chained mode.

Each chainable controller implements this method to update reference from subscribers when not in chained mode.

Returns
return_type::OK if update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.


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