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ros2_control - rolling
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ros2_control - rolling
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Joint State Broadcaster for all or some state in a ros2_control system. More...
#include <joint_state_broadcaster.hpp>
Classes | |
| struct | JointStateData |
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::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. | |
| 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 |
 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 ¶ms) |
| 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 | |
| bool | init_joint_data () |
| void | init_auxiliary_data () |
| void | init_joint_state_msg () |
| bool | use_all_available_interfaces () const |
| bool | use_urdf_joint_interfaces () const |
Protected Attributes | |
| std::shared_ptr< ParamListener > | param_listener_ |
| Params | params_ |
| std::unordered_map< std::string, std::string > | map_interface_to_joint_state_ |
| std::string | frame_id_ |
| std::vector< std::string > | joint_names_ |
| std::shared_ptr< rclcpp::Publisher< sensor_msgs::msg::JointState > > | joint_state_publisher_ |
| std::shared_ptr< realtime_tools::RealtimePublisher< sensor_msgs::msg::JointState > > | realtime_joint_state_publisher_ |
| sensor_msgs::msg::JointState | joint_state_msg_ |
| std::unordered_map< std::string, std::unordered_map< std::string, double > > | name_if_value_mapping_ |
| urdf::Model | model_ |
| bool | is_model_loaded_ = false |
| std::vector< double * > | mapped_values_ |
| std::vector< JointStateData > | joint_states_data_ |
| 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_ |
Joint State Broadcaster for all or some state in a ros2_control system.
JointStateBroadcaster publishes state interfaces from ros2_control as ROS messages. There is a possibility to publish all available states (typical use), or only specific ones. The latter is, for example, used when hardware provides multiple measurement sources for some of its states, e.g., position. It is possible to define a mapping of measurements from different sources stored in custom interfaces to standard dynamic names in JointState message. If "joints" or "interfaces" parameter is empty, all available states are published.
| use_local_topics | Flag to publish topics in local namespace. |
| joints | Names of the joints to publish. |
| interfaces | Names of interfaces to publish. |
| map_interface_to_joint_state.{HW_IF_POSITION|HW_IF_VELOCITY|HW_IF_EFFORT} | mapping between custom interface names and standard names in sensor_msgs::msg::JointState message. |
Publishes to:
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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.
Implements controller_interface::ControllerInterfaceBase.
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protected |
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overridevirtual |
Extending interface with initialization method which is individual for each controller.
Implements controller_interface::ControllerInterfaceBase.
|
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.
Implements controller_interface::ControllerInterfaceBase.
|
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.
| [in] | time | The time at the start of this control loop iteration |
| [in] | period | The measured time since the last control loop iteration |
Implements controller_interface::ControllerInterfaceBase.
1.9.8