19 #ifndef ROS2_CONTROL_DEMO_EXAMPLE_5__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_
20 #define ROS2_CONTROL_DEMO_EXAMPLE_5__EXTERNAL_RRBOT_FORCE_TORQUE_SENSOR_HPP_
26 #include "hardware_interface/handle.hpp"
27 #include "hardware_interface/hardware_info.hpp"
28 #include "hardware_interface/sensor_interface.hpp"
29 #include "hardware_interface/types/hardware_interface_return_values.hpp"
30 #include "rclcpp/macros.hpp"
32 namespace ros2_control_demo_example_5
45 const rclcpp_lifecycle::State & previous_state)
override;
48 const rclcpp_lifecycle::State & previous_state)
override;
50 hardware_interface::return_type
read(
51 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
57 double hw_sensor_change_;
60 std::vector<double> hw_sensor_states_;
Definition: sensor_interface.hpp:78
Definition: external_rrbot_force_torque_sensor.hpp:35
hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override
Read the current state values from the actuator.
Definition: external_rrbot_force_torque_sensor.cpp:107
std::vector< hardware_interface::StateInterface > export_state_interfaces() override
Exports all state interfaces for this hardware interface.
Definition: external_rrbot_force_torque_sensor.cpp:57
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: external_rrbot_force_torque_sensor.cpp:34
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn CallbackReturn
Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.
Definition: actuator_interface.hpp:75
This structure stores information about hardware defined in a robot's URDF.
Definition: hardware_info.hpp:170