admittance_controller::AdmittanceController Class Reference

Inheritance diagram for admittance_controller::AdmittanceController:

Collaboration diagram for admittance_controller::AdmittanceController:

Public Member Functions
controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.
controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Export configuration of required state interfaces.
controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Export configuration of required state interfaces.
controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn	on_error (const rclcpp_lifecycle::State &previous_state) override
controller_interface::return_type	update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Execute calculations of the controller and update command interfaces.
Public Member Functions inherited from controller_interface::ChainableControllerInterface
return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) final
	Control step. Updates command interfaces from reference inputs and current states. The method called in the (real-time) control loop.
bool	is_chainable () const final
	Get information if a controller is chainable.
std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final
	Export interfaces for a chainable controller that can be used as state interface by other controllers.
std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces () final
	Export interfaces for a chainable controller that can be used as command interface of other controllers.
bool	set_chained_mode (bool chained_mode) final
	Set chained mode of a chainable controller. This method triggers internal processes to switch a chainable controller to "chained" mode and vice-versa. Setting controller to "chained" mode usually involves the usage of the controller's reference interfaces by the other controllers.
bool	is_in_chained_mode () const final
	Get information if a controller is currently in chained mode.
Public Member Functions inherited from controller_interface::ControllerInterfaceBase
virtual void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)
	Method that assigns the Loaned interfaces to the controller.
virtual void	release_interfaces ()
	Method that releases the Loaned interfaces from the controller.
return_type	init (const std::string &controller_name, const std::string &urdf, unsigned int cm_update_rate, const std::string &node_namespace, const rclcpp::NodeOptions &node_options)
return_type	init (const controller_interface::ControllerInterfaceParams &params)
const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.
ControllerUpdateStatus	trigger_update (const rclcpp::Time &time, const rclcpp::Duration &period)
	Trigger update method. This method is used by the controller_manager to trigger the update method of the controller. The method is used to trigger the update method of the controller synchronously or asynchronously, based on the controller configuration. The method called in the (real-time) control loop.
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()
std::shared_ptr< const rclcpp_lifecycle::LifecycleNode >	get_node () const
const rclcpp_lifecycle::State &	get_lifecycle_state () const
	Get the current lifecycle state of the controller node.
uint8_t	get_lifecycle_id () const
	Get the lifecycle id of the controller node that is cached internally to avoid calls to get_lifecycle_state() in the real-time control loop.
unsigned int	get_update_rate () const
bool	is_async () const
const std::string &	get_robot_description () const
const std::unordered_map< std::string, joint_limits::JointLimits > &	get_hard_joint_limits () const
	Get the unordered map of joint limits that are defined in the robot description.
const std::unordered_map< std::string, joint_limits::SoftJointLimits > &	get_soft_joint_limits () const
	Get the unordered map of soft joint limits that are defined in the robot description.
virtual rclcpp::NodeOptions	define_custom_node_options () const
	Method used by the controller_manager for base NodeOptions to instantiate the Lifecycle node of the controller upon loading the controller.
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.
void	wait_for_trigger_update_to_finish ()
	Method to wait for any running async update cycle to finish after finishing the current cycle. This is needed to be called before deactivating the controller by the controller_manager, so that the interfaces still exist when the controller finishes its cycle and then it's exits.
void	prepare_for_deactivation ()
	Method to prepare the controller for deactivation. This method is called by the controller manager before deactivating the controller. The method is used to prepare the controller for deactivation, e.g., to stop triggering the update cycles further. This method is especially needed for controllers running in async mode and different frequency than the control manager.
std::string	get_name () const
void	enable_introspection (bool enable)
	Enable or disable introspection of the controller.

Protected Member Functions
std::vector< hardware_interface::CommandInterface >	on_export_reference_interfaces () override
	Virtual method implemented by chainable controllers to export read/write interfaces.
controller_interface::return_type	update_reference_from_subscribers (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Update reference from input topics when not in chained mode.
void	read_state_from_hardware (trajectory_msgs::msg::JointTrajectoryPoint &state_current, geometry_msgs::msg::Wrench &ft_values)
	Read values from hardware interfaces and set corresponding fields of state_current and ft_values.
void	read_state_reference_interfaces (trajectory_msgs::msg::JointTrajectoryPoint &state)
	Set fields of state_reference with values from controllers exported position and velocity references.
void	write_state_to_hardware (const trajectory_msgs::msg::JointTrajectoryPoint &state_command)
	Write values from state_command to claimed hardware interfaces.
Protected Member Functions inherited from controller_interface::ChainableControllerInterface
virtual std::vector< hardware_interface::StateInterface >	on_export_state_interfaces ()
	Virtual method that each chainable controller should implement to export its read-only chainable interfaces.
virtual std::vector< hardware_interface::StateInterface::SharedPtr >	on_export_state_interfaces_list ()
	Virtual method implemented by chainable controllers to export read-only interfaces.
virtual std::vector< hardware_interface::CommandInterface::SharedPtr >	on_export_reference_interfaces_list ()
	Virtual method that each chainable controller should implement to export its read/write chainable interfaces.
virtual bool	on_set_chained_mode (bool chained_mode)
	Virtual method that each chainable controller should implement to switch chained mode.

Protected Attributes
size_t	num_joints_ = 0
std::vector< std::string >	command_joint_names_
bool	has_position_state_interface_ = false
bool	has_velocity_state_interface_ = false
bool	has_acceleration_state_interface_ = false
bool	has_position_command_interface_ = false
bool	has_velocity_command_interface_ = false
bool	has_acceleration_command_interface_ = false
bool	has_effort_command_interface_ = false
const std::vector< std::string >	allowed_interface_types_
std::vector< std::reference_wrapper< double > >	position_reference_
std::vector< std::reference_wrapper< double > >	velocity_reference_
std::unique_ptr< admittance_controller::AdmittanceRule >	admittance_
std::unique_ptr< semantic_components::ForceTorqueSensor >	force_torque_sensor_
rclcpp::Subscription< trajectory_msgs::msg::JointTrajectoryPoint >::SharedPtr	input_joint_command_subscriber_
rclcpp::Subscription< geometry_msgs::msg::WrenchStamped >::SharedPtr	input_wrench_command_subscriber_
rclcpp::Publisher< control_msgs::msg::AdmittanceControllerState >::SharedPtr	s_publisher_
std::shared_ptr< admittance_controller::ParamListener >	parameter_handler_
realtime_tools::RealtimeThreadSafeBox< trajectory_msgs::msg::JointTrajectoryPoint >	input_joint_command_
realtime_tools::RealtimeThreadSafeBox< geometry_msgs::msg::WrenchStamped >	input_wrench_command_
std::unique_ptr< realtime_tools::RealtimePublisher< ControllerStateMsg > >	state_publisher_
ControllerStateMsg	state_msg_
trajectory_msgs::msg::JointTrajectoryPoint	joint_command_msg_
geometry_msgs::msg::WrenchStamped	wrench_command_msg_
trajectory_msgs::msg::JointTrajectoryPoint	last_commanded_
trajectory_msgs::msg::JointTrajectoryPoint	last_reference_
trajectory_msgs::msg::JointTrajectoryPoint	reference_
trajectory_msgs::msg::JointTrajectoryPoint	joint_state_
trajectory_msgs::msg::JointTrajectoryPoint	reference_admittance_
geometry_msgs::msg::Wrench	ft_values_
Protected Attributes inherited from controller_interface::ChainableControllerInterface
std::vector< std::string >	exported_state_interface_names_
	Storage of values for state interfaces.
std::vector< hardware_interface::StateInterface::SharedPtr >	ordered_exported_state_interfaces_
std::unordered_map< std::string, hardware_interface::StateInterface::SharedPtr >	exported_state_interfaces_
std::vector< double >	state_interfaces_values_
std::vector< std::string >	exported_reference_interface_names_
	Storage of values for reference interfaces.
std::vector< double >	reference_interfaces_
std::vector< hardware_interface::CommandInterface::SharedPtr >	ordered_exported_reference_interfaces_
std::unordered_map< std::string, hardware_interface::CommandInterface::SharedPtr >	exported_reference_interfaces_
Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
	Loaned command interfaces.
std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_
	Loaned state interfaces.
pal_statistics::RegistrationsRAII	stats_registrations_

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration admittance_controller::AdmittanceController::command_interface_configuration ( ) const

overridevirtual

Export configuration of required state interfaces.

Allowed types of state interfaces are hardware_interface::POSITION, hardware_interface::VELOCITY, hardware_interface::ACCELERATION.

Implements controller_interface::ControllerInterfaceBase.

on_export_reference_interfaces()

std::vector< hardware_interface::CommandInterface > admittance_controller::AdmittanceController::on_export_reference_interfaces ( )

overrideprotectedvirtual

Virtual method implemented by chainable controllers to export read/write interfaces.

Each chainable controller implements this methods where all input (command) interfaces are exported. The method has the same meaning as export_command_interface method from hardware_interface::SystemInterface or hardware_interface::ActuatorInterface.

Returns

list of CommandInterfaces that other controller can use as their outputs.

Reimplemented from controller_interface::ChainableControllerInterface.

on_init()

controller_interface::CallbackReturn admittance_controller::AdmittanceController::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

Implements controller_interface::ControllerInterfaceBase.

state_interface_configuration()

controller_interface::InterfaceConfiguration admittance_controller::AdmittanceController::state_interface_configuration ( ) const

overridevirtual

Export configuration of required state interfaces.

Allowed types of state interfaces are hardware_interface::POSITION, hardware_interface::VELOCITY, hardware_interface::ACCELERATION.

Implements controller_interface::ControllerInterfaceBase.

update_and_write_commands()

controller_interface::return_type admittance_controller::AdmittanceController::update_and_write_commands ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Execute calculations of the controller and update command interfaces.

Update method for chainable controllers. In this method is valid to assume that \reference_interfaces_ hold the values for calculation of the commands in the current control step. This means that this method is called after \update_reference_from_subscribers if controller is not in chained mode.

Returns

return_type::OK if calculation and writing of interface is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

update_reference_from_subscribers()

controller_interface::return_type admittance_controller::AdmittanceController::update_reference_from_subscribers ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overrideprotectedvirtual

Update reference from input topics when not in chained mode.

Each chainable controller implements this method to update reference from subscribers when not in chained mode.

Returns

return_type::OK if update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ChainableControllerInterface.

Member Data Documentation

allowed_interface_types_

const std::vector<std::string> admittance_controller::AdmittanceController::allowed_interface_types_

protected

Initial value:

= {
    hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
    hardware_interface::HW_IF_ACCELERATION}

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The documentation for this class was generated from the following files:

• ros2_controllers/admittance_controller/include/admittance_controller/admittance_controller.hpp
• ros2_controllers/admittance_controller/src/admittance_controller.cpp