velocity_controllers::JointGroupVelocityController Class Reference

Forward command controller for a set of velocity controlled joints (linear or angular). More...

#include <joint_group_velocity_controller.hpp>

Inheritance diagram for velocity_controllers::JointGroupVelocityController:

Collaboration diagram for velocity_controllers::JointGroupVelocityController:

Public Member Functions
controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.
controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
Public Member Functions inherited from forward_command_controller::ForwardControllersBase
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
controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) 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)
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
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 ()

Additional Inherited Members
Protected Member Functions inherited from forward_command_controller::ForwardCommandController
void	declare_parameters () override
controller_interface::CallbackReturn	read_parameters () override
Protected Attributes inherited from forward_command_controller::ForwardCommandController
std::shared_ptr< ParamListener >	param_listener_
Params	params_
Protected Attributes inherited from forward_command_controller::ForwardControllersBase
std::vector< std::string >	joint_names_
std::string	interface_name_
std::vector< std::string >	command_interface_types_
realtime_tools::RealtimeBuffer< std::shared_ptr< CmdType > >	rt_command_ptr_
rclcpp::Subscription< CmdType >::SharedPtr	joints_command_subscriber_
Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_

Detailed Description

Forward command controller for a set of velocity controlled joints (linear or angular).

This class forwards the commanded velocities down to a set of joints.

Parameters

joints

Names of the joints to control.

Subscribes to:

• command (std_msgs::msg::Float64MultiArray) : The velocity commands to apply.

Member Function Documentation

on_init()

controller_interface::CallbackReturn velocity_controllers::JointGroupVelocityController::on_init ( )

overridevirtual

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

Reimplemented from forward_command_controller::ForwardControllersBase.

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

• ros2_controllers/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp
• ros2_controllers/velocity_controllers/src/joint_group_velocity_controller.cpp