Classes
class	Actuator

class	ActuatorInterface

class	AsyncComponentThread

struct	ControllerInfo
	Controller Information. More...

class	Handle
	A handle used to get and set a value on a given interface. More...

class	StateInterface

class	CommandInterface

struct	HardwareComponentInfo
	Hardware Component Information. More...

struct	InterfaceInfo

struct	MimicJoint
	This structure stores information about a joint that is mimicking another joint. More...

struct	ComponentInfo

struct	JointInfo
	Contains semantic info about a given joint loaded from URDF for a transmission. More...

struct	ActuatorInfo
	Contains semantic info about a given actuator loaded from URDF for a transmission. More...

struct	TransmissionInfo
	Contains semantic info about a given transmission loaded from URDF. More...

struct	InterfaceDescription

struct	HardwareInfo
	This structure stores information about hardware defined in a robot's URDF. More...

class	LoanedCommandInterface

class	LoanedStateInterface

struct	HardwareReadWriteStatus

class	ResourceManager

class	Sensor

class	SensorInterface

class	System

class	SystemInterface

class	ResourceStorage

Typedefs
using	CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
	Virtual Class to implement when integrating a 1 DoF actuator into ros2_control. More...

using	HANDLE_DATATYPE = std::variant< double >

Enumerations
enum class	MimicAttribute { NOT_SET , TRUE , FALSE }
	This enum is used to store the mimic attribute of a joint.

enum class	return_type : std::uint8_t { OK = 0 , ERROR = 1 , DEACTIVATE = 2 }

Functions
HARDWARE_INTERFACE_PUBLIC std::vector< HardwareInfo >	parse_control_resources_from_urdf (const std::string &urdf)
	Search XML snippet from URDF for information about a control component. More...

HARDWARE_INTERFACE_PUBLIC std::vector< InterfaceDescription >	parse_state_interface_descriptions (const std::vector< ComponentInfo > &component_info)

HARDWARE_INTERFACE_PUBLIC void	parse_state_interface_descriptions (const std::vector< ComponentInfo > &component_info, std::unordered_map< std::string, InterfaceDescription > &state_interfaces_map)

HARDWARE_INTERFACE_PUBLIC std::vector< InterfaceDescription >	parse_command_interface_descriptions (const std::vector< ComponentInfo > &component_info)

HARDWARE_INTERFACE_PUBLIC void	parse_command_interface_descriptions (const std::vector< ComponentInfo > &component_info, std::unordered_map< std::string, InterfaceDescription > &command_interfaces_map)

HARDWARE_INTERFACE_PUBLIC double	stod (const std::string &s)
	Helper function to convert a std::string to double in a locale-independent way. More...

HARDWARE_INTERFACE_PUBLIC bool	parse_bool (const std::string &bool_string)

constexpr bool	lifecycleStateThatRequiresNoAction (const lifecycle_msgs::msg::State::_id_type state)

std::string	interfaces_to_string (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)

Variables
constexpr char	HW_IF_POSITION [] = "position"
	Constant defining position interface name.

constexpr char	HW_IF_VELOCITY [] = "velocity"
	Constant defining velocity interface name.

constexpr char	HW_IF_ACCELERATION [] = "acceleration"
	Constant defining acceleration interface name.

constexpr char	HW_IF_EFFORT [] = "effort"
	Constant defining effort interface name.

constexpr char	HW_IF_TORQUE [] = "torque"
	Constant defining torque interface name.

constexpr char	HW_IF_FORCE [] = "force"
	Constant defining force interface name.

constexpr char	HW_IF_CURRENT [] = "current"
	Constant defining current interface name.

constexpr char	HW_IF_TEMPERATURE [] = "temperature"
	Constant defining temperature interface name.

constexpr char	HW_IF_PROPORTIONAL_GAIN [] = "proportional"

constexpr char	HW_IF_INTEGRAL_GAIN [] = "integral"
	Constant defining integral gain interface name.

constexpr char	HW_IF_DERIVATIVE_GAIN [] = "derivative"
	Constant defining derivative gain interface name.

constexpr char	HW_IF_INTEGRAL_CLAMP_MAX [] = "integral_clamp_max"
	Constant defining integral clamp interface name.

constexpr char	HW_IF_INTEGRAL_CLAMP_MIN [] = "integral_clamp_min"
	Constant defining integral clamp interface name.

constexpr char	HW_IF_FEEDFORWARD [] = "feedforward"
	Constant defining the feedforward interface name.

auto	trigger_and_print_hardware_state_transition

Detailed Description

Author: : Denis Stogl

Typedef Documentation

◆ CallbackReturn

typedef rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn hardware_interface::CallbackReturn

Virtual Class to implement when integrating a 1 DoF actuator into ros2_control.

Virtual Class to implement when integrating a complex system into ros2_control.

Virtual Class to implement when integrating a stand-alone sensor into ros2_control.

The typical examples are conveyors or motors.

Methods return values have type rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn with the following meaning:

Returns: CallbackReturn::SUCCESS method execution was successful.; CallbackReturn::FAILURE method execution has failed and and can be called again.; CallbackReturn::ERROR critical error has happened that should be managed in "on_error" method.

The hardware ends after each method in a state with the following meaning:

UNCONFIGURED (on_init, on_cleanup): Hardware is initialized but communication is not started and therefore no interface is available.

INACTIVE (on_configure, on_deactivate): Communication with the hardware is started and it is configured. States can be read and non-movement hardware interfaces commanded. Hardware interfaces for movement will NOT be available. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

FINALIZED (on_shutdown): Hardware interface is ready for unloading/destruction. Allocated memory is cleaned up.

ACTIVE (on_activate): Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled. Command interfaces for movement are available and have to be accepted. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

The typical examples are Force-Torque Sensor (FTS), Interial Measurement Unit (IMU).

Methods return values have type rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn with the following meaning:

Returns: CallbackReturn::SUCCESS method execution was successful.; CallbackReturn::FAILURE method execution has failed and and can be called again.; CallbackReturn::ERROR critical error has happened that should be managed in "on_error" method.

The hardware ends after each method in a state with the following meaning:

UNCONFIGURED (on_init, on_cleanup): Hardware is initialized but communication is not started and therefore no interface is available.

INACTIVE (on_configure, on_deactivate): Communication with the hardware is started and it is configured. States can be read and non-movement hardware interfaces commanded. Hardware interfaces for movement will NOT be available. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

FINALIZED (on_shutdown): Hardware interface is ready for unloading/destruction. Allocated memory is cleaned up.

ACTIVE (on_activate): Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled. Command interfaces for movement are available and have to be accepted. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

The common examples for these types of hardware are multi-joint systems with or without sensors such as industrial or humanoid robots.

Methods return values have type rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn with the following meaning:

Returns: CallbackReturn::SUCCESS method execution was successful.; CallbackReturn::FAILURE method execution has failed and and can be called again.; CallbackReturn::ERROR critical error has happened that should be managed in "on_error" method.

The hardware ends after each method in a state with the following meaning:

UNCONFIGURED (on_init, on_cleanup): Hardware is initialized but communication is not started and therefore no interface is available.

INACTIVE (on_configure, on_deactivate): Communication with the hardware is started and it is configured. States can be read and non-movement hardware interfaces commanded. Hardware interfaces for movement will NOT be available. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

FINALIZED (on_shutdown): Hardware interface is ready for unloading/destruction. Allocated memory is cleaned up.

ACTIVE (on_activate): Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled. Command interfaces for movement are available and have to be accepted. Those interfaces are: HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_ACCELERATION, and HW_IF_EFFORT.

Function Documentation

◆ parse_command_interface_descriptions() [1/2]

std::vector< InterfaceDescription > hardware_interface::parse_command_interface_descriptions ( const std::vector< ComponentInfo > & component_info )

Parameters

[in] component_info information about a component (gpio, joint, sensor)

Returns: vector filled with information about hardware's CommandInterfaces for the component which are exported

◆ parse_command_interface_descriptions() [2/2]

void hardware_interface::parse_command_interface_descriptions	(	const std::vector< ComponentInfo > &	component_info,
		std::unordered_map< std::string, InterfaceDescription > &	command_interfaces_map
	)

Parameters

[in]	component_info	information about a component (gpio, joint, sensor)
[out]	command_interfaces_map	unordered_map filled with information about hardware's CommandInterfaces for the component which are exported

◆ parse_control_resources_from_urdf()

std::vector< HardwareInfo > hardware_interface::parse_control_resources_from_urdf ( const std::string & urdf )

Search XML snippet from URDF for information about a control component.

Parameters

[in] urdf string with robot's URDF

Returns: vector filled with information about robot's control resources

Exceptions

std::runtime_error if a robot attribute or tag is not found

◆ parse_state_interface_descriptions() [1/2]

std::vector< InterfaceDescription > hardware_interface::parse_state_interface_descriptions ( const std::vector< ComponentInfo > & component_info )

Parameters

[in] component_info information about a component (gpio, joint, sensor)

Returns: vector filled with information about hardware's StateInterfaces for the component which are exported

◆ parse_state_interface_descriptions() [2/2]

void hardware_interface::parse_state_interface_descriptions	(	const std::vector< ComponentInfo > &	component_info,
		std::unordered_map< std::string, InterfaceDescription > &	state_interfaces_map
	)

Parameters

[in]	component_info	information about a component (gpio, joint, sensor)
[out]	state_interfaces_map	unordered_map filled with information about hardware's StateInterfaces for the component which are exported

◆ stod()

double hardware_interface::stod ( const std::string & s )

Helper function to convert a std::string to double in a locale-independent way.

Exceptions

std::invalid_argument if not a valid number from https://github.com/ros-planning/srdfdom/blob/ad17b8d25812f752c397a6011cec64aeff090c46/src/model.cpp#L53

Variable Documentation

◆ HW_IF_PROPORTIONAL_GAIN

constexpr char hardware_interface::HW_IF_PROPORTIONAL_GAIN[] = "proportional"

constexpr

Gains interface constants Constant defining proportional gain interface name

◆ trigger_and_print_hardware_state_transition

auto hardware_interface::trigger_and_print_hardware_state_transition

Initial value:

=
  [](
    auto transition, const std::string transition_name, const std::string & hardware_name,
    const lifecycle_msgs::msg::State::_id_type & target_state)
{
  RCUTILS_LOG_INFO_NAMED(
    "resource_manager", "'%s' hardware '%s' ", transition_name.c_str(), hardware_name.c_str());
 
  const rclcpp_lifecycle::State new_state = transition();
 
  bool result = new_state.id() == target_state;
 
  if (result)
  {
    RCUTILS_LOG_INFO_NAMED(
      "resource_manager", "Successful '%s' of hardware '%s'", transition_name.c_str(),
      hardware_name.c_str());
  }
  else
  {
    RCUTILS_LOG_ERROR_NAMED(
      "resource_manager", "Failed to '%s' hardware '%s'", transition_name.c_str(),
      hardware_name.c_str());
  }
  return result;
}

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ CallbackReturn

Function Documentation

◆ parse_command_interface_descriptions() [1/2]

◆ parse_command_interface_descriptions() [2/2]

◆ parse_control_resources_from_urdf()

◆ parse_state_interface_descriptions() [1/2]

◆ parse_state_interface_descriptions() [2/2]

◆ stod()

Variable Documentation

◆ HW_IF_PROPORTIONAL_GAIN

◆ trigger_and_print_hardware_state_transition