Forward command controller for a set of joints and interfaces. More...

#include <forward_controllers_base.hpp>

Inheritance diagram for forward_command_controller::ForwardControllersBase:

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Collaboration diagram for forward_command_controller::ForwardControllersBase:

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Public Member Functions
controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces.

controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces.

controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.

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::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
	Control step update. Command interfaces are updated based on on reference inputs and current states. The method called in the (real-time) control loop.

Public Member Functions inherited from controller_interface::ControllerInterface
bool	is_chainable () const final
	Controller is not chainable.

std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final
	A non-chainable controller doesn't export any state interfaces.

std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces () final
	Controller has no reference interfaces.

bool	set_chained_mode (bool chained_mode) final
	Controller is not chainable, therefore no chained mode can be set.

bool	is_in_chained_mode () const final
	Controller can not be 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
virtual void	declare_parameters ()=0

virtual controller_interface::CallbackReturn	read_parameters ()=0

Protected Attributes
std::vector< std::string >	joint_names_

std::string	interface_name_

std::vector< std::string >	command_interface_types_

realtime_tools::RealtimeThreadSafeBox< CmdType >	rt_command_

CmdType	joint_commands_

rclcpp::Subscription< CmdType >::SharedPtr	joints_command_subscriber_

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_

Detailed Description

Forward command controller for a set of joints and interfaces.

This class forwards the command signal down to a set of joints or interfaces.

Subscribes to:

commands (std_msgs::msg::Float64MultiArray) : The commands to apply.

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration forward_command_controller::ForwardControllersBase::command_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required command interfaces.

Method used by the controller_manager to get the set of command interfaces used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the command_interfaces_ member.

Returns: configuration of command interfaces.

Implements controller_interface::ControllerInterfaceBase.

◆ declare_parameters()

virtual void forward_command_controller::ForwardControllersBase::declare_parameters ( )

protectedpure virtual

Derived controllers have to declare parameters in this method. Error handling does not have to be done. It is done in on_init-method of this class.

Implemented in forward_command_controller::ForwardCommandController, and forward_command_controller::MultiInterfaceForwardCommandController.

◆ on_init()

controller_interface::CallbackReturn forward_command_controller::ForwardControllersBase::on_init ( )

overridevirtual

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

Implements controller_interface::ControllerInterfaceBase.

◆ read_parameters()

virtual controller_interface::CallbackReturn forward_command_controller::ForwardControllersBase::read_parameters ( )

protectedpure virtual

Derived controllers have to read parameters in this method and set command_interface_types_ variable. The variable is then used to propagate the command interface configuration to controller manager. The method is called from on_configure-method of this class.

It is expected that error handling of exceptions is done.

Returns: controller_interface::CallbackReturn::SUCCESS if parameters are successfully read and their values are allowed, controller_interface::CallbackReturn::ERROR otherwise.

Implemented in forward_command_controller::ForwardCommandController, and forward_command_controller::MultiInterfaceForwardCommandController.

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration forward_command_controller::ForwardControllersBase::state_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required state interfaces.

Method used by the controller_manager to get the set of state interface used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the state_interfaces_ member.

Returns: configuration of state interfaces.

Implements controller_interface::ControllerInterfaceBase.

◆ update()

controller_interface::return_type forward_command_controller::ForwardControllersBase::update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Control step update. Command interfaces are updated based on on reference inputs and current states. The method called in the (real-time) control loop.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time since the last control loop iteration

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

Implements controller_interface::ControllerInterfaceBase.

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

ros2_controllers/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp
ros2_controllers/forward_command_controller/src/forward_controllers_base.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ command_interface_configuration()

◆ declare_parameters()

◆ on_init()

◆ read_parameters()

◆ state_interface_configuration()

◆ update()