Inheritance diagram for pid_controller::PidController:

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Collaboration diagram for pid_controller::PidController:

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Public Types
using	ControllerReferenceMsg = control_msgs::msg::MultiDOFCommand

using	ControllerMeasuredStateMsg = control_msgs::msg::MultiDOFCommand

using	ControllerModeSrvType = std_srvs::srv::SetBool

using	ControllerStateMsg = control_msgs::msg::MultiDOFStateStamped

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

PID_CONTROLLER__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces. More...

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

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

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

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

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

PID_CONTROLLER__VISIBILITY_PUBLIC 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...

PID_CONTROLLER__VISIBILITY_PUBLIC 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 Types
using	PidPtr = std::shared_ptr< control_toolbox::PidROS >

using	ControllerStatePublisher = realtime_tools::RealtimePublisher< ControllerStateMsg >

Protected Member Functions
std::vector< hardware_interface::CommandInterface >	on_export_reference_interfaces () override

std::vector< hardware_interface::StateInterface >	on_export_state_interfaces () override

bool	on_set_chained_mode (bool chained_mode) override
	Virtual method that each chainable controller should implement to switch chained mode. More...

void	update_parameters ()

controller_interface::CallbackReturn	configure_parameters ()

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

pid_controller::Params	params_

std::vector< std::string >	reference_and_state_dof_names_

size_t	dof_

std::vector< double >	measured_state_values_

std::vector< PidPtr >	pids_

std::vector< double >	feedforward_gain_

rclcpp::Subscription< ControllerReferenceMsg >::SharedPtr	ref_subscriber_ = nullptr

realtime_tools::RealtimeBuffer< std::shared_ptr< ControllerReferenceMsg > >	input_ref_

rclcpp::Subscription< ControllerMeasuredStateMsg >::SharedPtr	measured_state_subscriber_ = nullptr

realtime_tools::RealtimeBuffer< std::shared_ptr< ControllerMeasuredStateMsg > >	measured_state_

rclcpp::Service< ControllerModeSrvType >::SharedPtr	set_feedforward_control_service_

realtime_tools::RealtimeBuffer< feedforward_mode_type >	control_mode_

rclcpp::Publisher< ControllerStateMsg >::SharedPtr	s_publisher_

std::unique_ptr< ControllerStatePublisher >	state_publisher_

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::LoanedCommandInterface >	command_interfaces_

std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration pid_controller::PidController::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 > pid_controller::PidController::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_export_state_interfaces()

std::vector< hardware_interface::StateInterface > pid_controller::PidController::on_export_state_interfaces ( )

overrideprotectedvirtual

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

Returns: list of StateInterfaces that other controller can use as their inputs.

Reimplemented from controller_interface::ChainableControllerInterface.

◆ on_set_chained_mode()

bool pid_controller::PidController::on_set_chained_mode ( bool chained_mode )

overrideprotectedvirtual

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] flag marking 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 pid_controller::PidController::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 pid_controller::PidController::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 pid_controller::PidController::update_reference_from_subscribers	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

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:

ros2_controllers/pid_controller/include/pid_controller/pid_controller.hpp
ros2_controllers/pid_controller/src/pid_controller.cpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ command_interface_configuration()

◆ on_export_reference_interfaces()

◆ on_export_state_interfaces()

◆ on_set_chained_mode()

◆ state_interface_configuration()

◆ update_and_write_commands()

◆ update_reference_from_subscribers()