Inheritance diagram for ros2_control_demo_example_7::RobotController:

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Collaboration diagram for ros2_control_demo_example_7::RobotController:

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

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

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

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

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

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

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

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

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

CONTROLLER_INTERFACE_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 >	export_state_interfaces () final

CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface >	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 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...

Protected Attributes
std::vector< std::string >	joint_names_

std::vector< std::string >	command_interface_types_

std::vector< std::string >	state_interface_types_

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

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

bool	new_msg_ = false

rclcpp::Time	start_time_

std::shared_ptr< trajectory_msgs::msg::JointTrajectory >	trajectory_msg_

trajectory_msgs::msg::JointTrajectoryPoint	point_interp_

std::vector< std::reference_wrapper< hardware_interface::LoanedCommandInterface > >	joint_position_command_interface_

std::vector< std::reference_wrapper< hardware_interface::LoanedCommandInterface > >	joint_velocity_command_interface_

std::vector< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	joint_position_state_interface_

std::vector< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	joint_velocity_state_interface_

std::unordered_map< std::string, std::vector< std::reference_wrapper< hardware_interface::LoanedCommandInterface > > * >	command_interface_map_

std::unordered_map< std::string, std::vector< std::reference_wrapper< hardware_interface::LoanedStateInterface > > * >	state_interface_map_

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 ros2_control_demo_example_7::RobotController::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.

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration ros2_control_demo_example_7::RobotController::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_interface_ member.

Returns: configuration of state interfaces.

Implements controller_interface::ControllerInterfaceBase.

◆ update()

controller_interface::return_type ros2_control_demo_example_7::RobotController::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 taken by the last control loop iteration

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

Implements controller_interface::ControllerInterfaceBase.

Member Data Documentation

◆ command_interface_map_

std::unordered_map< std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface> > *> ros2_control_demo_example_7::RobotController::command_interface_map_

protected

Initial value:

= {
      {"position", &joint_position_command_interface_},
      {"velocity", &joint_velocity_command_interface_}}

◆ state_interface_map_

std::unordered_map< std::string, std::vector<std::reference_wrapper<hardware_interface::LoanedStateInterface> > *> ros2_control_demo_example_7::RobotController::state_interface_map_

protected

Initial value:

= {
      {"position", &joint_position_state_interface_},
      {"velocity", &joint_velocity_state_interface_}}

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

ros2_control_demos/example_7/controller/include/ros2_control_demo_example_7/r6bot_controller.hpp
ros2_control_demos/example_7/controller/r6bot_controller.cpp

Public Member Functions

Protected Attributes

Member Function Documentation

◆ command_interface_configuration()

◆ state_interface_configuration()

◆ update()

Member Data Documentation

◆ command_interface_map_

◆ state_interface_map_