15#ifndef ROS2_CONTROL_DEMO_EXAMPLE_5__RRBOT_HPP_
16#define ROS2_CONTROL_DEMO_EXAMPLE_5__RRBOT_HPP_
22#include "hardware_interface/handle.hpp"
23#include "hardware_interface/hardware_info.hpp"
24#include "hardware_interface/system_interface.hpp"
25#include "hardware_interface/types/hardware_interface_return_values.hpp"
26#include "rclcpp/macros.hpp"
27#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
28#include "rclcpp_lifecycle/state.hpp"
30namespace ros2_control_demo_example_5
41 const rclcpp_lifecycle::State & previous_state)
override;
44 const rclcpp_lifecycle::State & previous_state)
override;
47 const rclcpp_lifecycle::State & previous_state)
override;
49 hardware_interface::return_type
read(
50 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
52 hardware_interface::return_type
write(
53 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
Definition system_interface.hpp:83
hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override
Read the current state values from the actuator.
Definition rrbot.cpp:156
hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override
Initialization of the hardware interface from data parsed from the robot's URDF.
Definition rrbot.cpp:31
hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override
Write the current command values to the actuator.
Definition rrbot.cpp:177
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn CallbackReturn
Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.
Definition actuator_interface.hpp:77
This structure stores information about hardware defined in a robot's URDF.
Definition hardware_info.hpp:170