ros2_control - rolling
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rrbot.hpp
1// Copyright 2020 ros2_control Development Team
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#ifndef ROS2_CONTROL_DEMO_EXAMPLE_5__RRBOT_HPP_
16#define ROS2_CONTROL_DEMO_EXAMPLE_5__RRBOT_HPP_
17
18#include <memory>
19#include <string>
20#include <vector>
21
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"
29
30namespace ros2_control_demo_example_5
31{
33{
34public:
35 RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware);
36
38 const hardware_interface::HardwareInfo & info) override;
39
41 const rclcpp_lifecycle::State & previous_state) override;
42
44 const rclcpp_lifecycle::State & previous_state) override;
45
47 const rclcpp_lifecycle::State & previous_state) override;
48
49 hardware_interface::return_type read(
50 const rclcpp::Time & time, const rclcpp::Duration & period) override;
51
52 hardware_interface::return_type write(
53 const rclcpp::Time & time, const rclcpp::Duration & period) override;
54
55private:
56 // Parameters for the RRBot simulation
57 double hw_start_sec_;
58 double hw_stop_sec_;
59 double hw_slowdown_;
60};
61
62} // namespace ros2_control_demo_example_5
63
64#endif // ROS2_CONTROL_DEMO_EXAMPLE_5__RRBOT_HPP_
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