Inheritance diagram for ros2_control_demo_example_7::RobotSystem:

Collaboration diagram for ros2_control_demo_example_7::RobotSystem:

[legend]

Public Member Functions
CallbackReturn	on_init (const hardware_interface::HardwareInfo &info) override
	Initialization of the hardware interface from data parsed from the robot's URDF. More...

std::vector< hardware_interface::StateInterface >	export_state_interfaces () override
	Exports all state interfaces for this hardware interface. More...

std::vector< hardware_interface::CommandInterface >	export_command_interfaces () override
	Exports all command interfaces for this hardware interface. More...

return_type	read (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Read the current state values from the actuator. More...

return_type	write (const rclcpp::Time &, const rclcpp::Duration &) override
	Write the current command values to the actuator. More...

Public Member Functions inherited from hardware_interface::SystemInterface
	SystemInterface (const SystemInterface &other)=delete
	SystemInterface copy constructor is actively deleted. More...

	SystemInterface (SystemInterface &&other)=default

virtual return_type	prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
	Prepare for a new command interface switch. More...

virtual return_type	perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)

virtual std::string	get_name () const
	Get name of the actuator hardware. More...

const rclcpp_lifecycle::State &	get_state () const
	Get life-cycle state of the actuator hardware. More...

void	set_state (const rclcpp_lifecycle::State &new_state)
	Set life-cycle state of the actuator hardware. More...

Protected Attributes
std::vector< double >	joint_position_command_
	The size of this vector is (standard_interfaces_.size() x nr_joints)

std::vector< double >	joint_velocities_command_

std::vector< double >	joint_position_

std::vector< double >	joint_velocities_

std::vector< double >	ft_states_

std::vector< double >	ft_command_

std::unordered_map< std::string, std::vector< std::string > >	joint_interfaces

Protected Attributes inherited from hardware_interface::SystemInterface
HardwareInfo	info_

rclcpp_lifecycle::State	lifecycle_state_

Member Function Documentation

◆ export_command_interfaces()

std::vector< hardware_interface::CommandInterface > ros2_control_demo_example_7::RobotSystem::export_command_interfaces ( )

overridevirtual

Exports all command interfaces for this hardware interface.

The command interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of command interfaces

Implements hardware_interface::SystemInterface.

◆ export_state_interfaces()

std::vector< hardware_interface::StateInterface > ros2_control_demo_example_7::RobotSystem::export_state_interfaces ( )

overridevirtual

Exports all state interfaces for this hardware interface.

The state interfaces have to be created and transferred according to the hardware info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns: vector of state interfaces

Implements hardware_interface::SystemInterface.

◆ on_init()

CallbackReturn ros2_control_demo_example_7::RobotSystem::on_init ( const hardware_interface::HardwareInfo & hardware_info )

overridevirtual

Initialization of the hardware interface from data parsed from the robot's URDF.

Parameters

[in] hardware_info structure with data from URDF.

Returns: CallbackReturn::SUCCESS if required data are provided and can be parsed.; CallbackReturn::ERROR if any error happens or data are missing.

Reimplemented from hardware_interface::SystemInterface.

◆ read()

return_type ros2_control_demo_example_7::RobotSystem::read	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Read the current state values from the actuator.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

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 the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ write()

return_type ros2_control_demo_example_7::RobotSystem::write	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Write the current command values to the actuator.

The physical hardware shall be updated with the latest value from the exported command interfaces.

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 the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

Member Data Documentation

◆ joint_interfaces

std::unordered_map<std::string, std::vector<std::string> > ros2_control_demo_example_7::RobotSystem::joint_interfaces

protected

Initial value:

= {

{"position", {}}, {"velocity", {}}}

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

ros2_control_demos/example_7/hardware/include/ros2_control_demo_example_7/r6bot_hardware.hpp
ros2_control_demos/example_7/hardware/r6bot_hardware.cpp

Public Member Functions

Protected Attributes

Member Function Documentation

◆ export_command_interfaces()

◆ export_state_interfaces()

◆ on_init()

◆ read()

◆ write()

Member Data Documentation

◆ joint_interfaces