Inheritance diagram for motion_primitives_controllers::MotionPrimitivesForwardController:

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Collaboration diagram for motion_primitives_controllers::MotionPrimitivesForwardController:

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Public Member Functions
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 motion_primitives_controllers::MotionPrimitivesBaseController
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_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 &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 Types
using	ExecuteMotionAction = control_msgs::action::ExecuteMotionPrimitiveSequence

using	RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< ExecuteMotionAction >

Protected Types inherited from motion_primitives_controllers::MotionPrimitivesBaseController
using	MotionPrimitive = control_msgs::msg::MotionPrimitive

Protected Member Functions
rclcpp_action::GoalResponse	goal_received_callback (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const ExecuteMotionAction::Goal > goal)

rclcpp_action::CancelResponse	goal_cancelled_callback (const std::shared_ptr< rclcpp_action::ServerGoalHandle< ExecuteMotionAction > > goal_handle)

void	goal_accepted_callback (std::shared_ptr< rclcpp_action::ServerGoalHandle< ExecuteMotionAction > > goal_handle)

Protected Member Functions inherited from motion_primitives_controllers::MotionPrimitivesBaseController
void	reset_command_interfaces ()

bool	set_command_interfaces ()

Protected Attributes
std::shared_ptr< motion_primitives_forward_controller::ParamListener >	param_listener_

motion_primitives_forward_controller::Params	params_

rclcpp_action::Server< ExecuteMotionAction >::SharedPtr	action_server_

realtime_tools::RealtimeThreadSafeBox< std::shared_ptr< RealtimeGoalHandle > >	rt_goal_handle_

Protected Attributes inherited from motion_primitives_controllers::MotionPrimitivesBaseController
std::string	tf_prefix_

realtime_tools::LockFreeSPSCQueue< MotionPrimitive, 1024 >	moprim_queue_

std::atomic< bool >	has_active_goal_ = false

rclcpp::TimerBase::SharedPtr	goal_handle_timer_

rclcpp::Duration	action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20))

bool	print_error_once_ = true

std::atomic< bool >	cancel_requested_ = false

std::atomic< bool >	robot_stop_requested_ = false

bool	was_executing_ = false

ExecutionState	execution_status_

ReadyForNewPrimitive	ready_for_new_primitive_

MotionPrimitive	current_moprim_

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

◆ on_init()

controller_interface::CallbackReturn motion_primitives_controllers::MotionPrimitivesForwardController::on_init ( )

overridevirtual

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

Reimplemented from motion_primitives_controllers::MotionPrimitivesBaseController.

◆ update()

controller_interface::return_type motion_primitives_controllers::MotionPrimitivesForwardController::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.

Reimplemented from motion_primitives_controllers::MotionPrimitivesBaseController.

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

ros2_controllers/motion_primitives_controllers/include/motion_primitives_controllers/motion_primitives_forward_controller.hpp
ros2_controllers/motion_primitives_controllers/src/motion_primitives_forward_controller.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ on_init()

◆ update()