19 #ifndef FORCE_TORQUE_SENSOR_BROADCASTER__FORCE_TORQUE_SENSOR_BROADCASTER_HPP_
20 #define FORCE_TORQUE_SENSOR_BROADCASTER__FORCE_TORQUE_SENSOR_BROADCASTER_HPP_
24 #include "controller_interface/controller_interface.hpp"
25 #include "force_torque_sensor_broadcaster/visibility_control.h"
27 #include "force_torque_sensor_broadcaster_parameters.hpp"
28 #include "geometry_msgs/msg/wrench_stamped.hpp"
29 #include "rclcpp_lifecycle/state.hpp"
30 #include "realtime_tools/realtime_publisher.h"
31 #include "semantic_components/force_torque_sensor.hpp"
33 namespace force_torque_sensor_broadcaster
38 FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC
41 FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC
44 FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC
47 FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn
on_init()
override;
49 FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC
50 controller_interface::CallbackReturn on_configure(
51 const rclcpp_lifecycle::State & previous_state)
override;
53 FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC
54 controller_interface::CallbackReturn on_activate(
55 const rclcpp_lifecycle::State & previous_state)
override;
57 FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC
58 controller_interface::CallbackReturn on_deactivate(
59 const rclcpp_lifecycle::State & previous_state)
override;
61 FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC
62 controller_interface::return_type
update(
63 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
66 std::shared_ptr<ParamListener> param_listener_;
69 std::unique_ptr<semantic_components::ForceTorqueSensor> force_torque_sensor_;
72 rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr sensor_state_publisher_;
73 std::unique_ptr<StatePublisher> realtime_publisher_;
Definition: controller_interface.hpp:28
Definition: force_torque_sensor_broadcaster.hpp:36
FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
Definition: force_torque_sensor_broadcaster.cpp:144
FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration() const override
Get configuration for controller's required command interfaces.
Definition: force_torque_sensor_broadcaster.cpp:114
FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_init() override
Extending interface with initialization method which is individual for each controller.
Definition: force_torque_sensor_broadcaster.cpp:31
FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration() const override
Get configuration for controller's required state interfaces.
Definition: force_torque_sensor_broadcaster.cpp:122
Configuring what command/state interfaces to claim.
Definition: controller_interface_base.hpp:56