ros2_control - rolling
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rrbot_system_multi_interface.hpp
1// Copyright 2021 Department of Engineering Cybernetics, NTNU
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_3__RRBOT_SYSTEM_MULTI_INTERFACE_HPP_
16#define ROS2_CONTROL_DEMO_EXAMPLE_3__RRBOT_SYSTEM_MULTI_INTERFACE_HPP_
17
18#include <chrono>
19#include <cstdint>
20#include <memory>
21#include <string>
22#include <vector>
23
24#include "hardware_interface/handle.hpp"
25#include "hardware_interface/hardware_info.hpp"
26#include "hardware_interface/system_interface.hpp"
27#include "hardware_interface/types/hardware_interface_return_values.hpp"
28#include "rclcpp/clock.hpp"
29#include "rclcpp/duration.hpp"
30#include "rclcpp/macros.hpp"
31#include "rclcpp/time.hpp"
32#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
33#include "rclcpp_lifecycle/state.hpp"
34
35namespace ros2_control_demo_example_3
36{
38{
39public:
40 RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemMultiInterfaceHardware);
41
43 const hardware_interface::HardwareInfo & info) override;
44
46 const rclcpp_lifecycle::State & previous_state) override;
47
48 hardware_interface::return_type prepare_command_mode_switch(
49 const std::vector<std::string> & start_interfaces,
50 const std::vector<std::string> & stop_interfaces) override;
51
53 const rclcpp_lifecycle::State & previous_state) override;
54
56 const rclcpp_lifecycle::State & previous_state) override;
57
58 hardware_interface::return_type read(
59 const rclcpp::Time & time, const rclcpp::Duration & period) override;
60
61 hardware_interface::return_type write(
62 const rclcpp::Time & time, const rclcpp::Duration & period) override;
63
64private:
65 // Parameters for the RRBot simulation
66 double hw_start_sec_;
67 double hw_stop_sec_;
68 double hw_slowdown_;
69
70 // Enum defining at which control level we are
71 // Dumb way of maintaining the command_interface type per joint.
72 enum integration_level_t : std::uint8_t
73 {
74 UNDEFINED = 0,
75 POSITION = 1,
76 VELOCITY = 2,
77 ACCELERATION = 3
78 };
79
80 // Active control mode for each actuator
81 std::vector<integration_level_t> control_level_;
82};
83
84} // namespace ros2_control_demo_example_3
85#endif // ROS2_CONTROL_DEMO_EXAMPLE_3__RRBOT_SYSTEM_MULTI_INTERFACE_HPP_
Definition system_interface.hpp:83
Definition rrbot_system_multi_interface.hpp:38
hardware_interface::return_type prepare_command_mode_switch(const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override
Prepare for a new command interface switch.
Definition rrbot_system_multi_interface.cpp:123
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_system_multi_interface.cpp:31
hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override
Read the current state values from the actuator.
Definition rrbot_system_multi_interface.cpp:230
hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override
Write the current command values to the actuator.
Definition rrbot_system_multi_interface.cpp:278
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