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ros2_control - rolling
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ros2_control - rolling
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Classes | |
| struct | WheelHandle |
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 |
| 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 |
| 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. | |
| 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. | |
| controller_interface::CallbackReturn | on_cleanup (const rclcpp_lifecycle::State &previous_state) override |
| controller_interface::CallbackReturn | on_error (const rclcpp_lifecycle::State &previous_state) override |
| void | set_odometry (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< control_msgs::srv::SetOdometry::Request > req, std::shared_ptr< control_msgs::srv::SetOdometry::Response > res) |
 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 ¶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 | |
| std::vector< hardware_interface::CommandInterface > | on_export_reference_interfaces () override |
| Virtual method implemented by chainable controllers to export read/write interfaces. | |
| controller_interface::CallbackReturn | configure_wheel_handles (const std::vector< std::string > &wheel_names, std::vector< WheelHandle > ®istered_handles) |
| void | compute_and_set_wheel_velocities () |
| const char * | feedback_type () const |
| void | halt () |
| bool | reset () |
| bool | on_set_chained_mode (bool chained_mode) override |
| Virtual method that each chainable controller should implement to switch chained mode. | |
| 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. | |
Protected Attributes | |
| std::shared_ptr< ParamListener > | param_listener_ |
| Params | params_ |
| std::vector< WheelHandle > | registered_wheel_handles_ |
| rclcpp::Duration | cmd_vel_timeout_ = rclcpp::Duration::from_seconds(0.5) |
| std::atomic_bool | subscriber_is_active_ = false |
| rclcpp::Subscription< TwistStamped >::SharedPtr | velocity_command_subscriber_ = nullptr |
| realtime_tools::RealtimeThreadSafeBox< TwistStamped > | received_velocity_msg_ |
| TwistStamped | command_msg_ |
| std::shared_ptr< rclcpp::Publisher< nav_msgs::msg::Odometry > > | odometry_publisher_ = nullptr |
| std::shared_ptr< realtime_tools::RealtimePublisher< nav_msgs::msg::Odometry > > | realtime_odometry_publisher_ |
| nav_msgs::msg::Odometry | odometry_message_ |
| Odometry | odometry_ |
| std::shared_ptr< rclcpp::Publisher< tf2_msgs::msg::TFMessage > > | odometry_transform_publisher_ |
| std::shared_ptr< realtime_tools::RealtimePublisher< tf2_msgs::msg::TFMessage > > | realtime_odometry_transform_publisher_ |
| geometry_msgs::msg::TransformStamped | transform_ |
| rclcpp::Service< control_msgs::srv::SetOdometry >::SharedPtr | set_odom_service_ |
| std::atomic< bool > | set_odom_requested_ {false} |
| realtime_tools::RealtimeThreadSafeBox< control_msgs::srv::SetOdometry::Request > | requested_odom_params_ |
| 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_ |
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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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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.
Reimplemented from controller_interface::ChainableControllerInterface.
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overridevirtual |
Extending interface with initialization method which is individual for each controller.
Implements controller_interface::ControllerInterfaceBase.
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overrideprotectedvirtual |
Virtual method that each chainable controller should implement to switch chained mode.
Each chainable controller implements this methods to switch between "chained" and "external" mode. In "chained" mode all external interfaces like subscriber and service servers are disabled to avoid potential concurrency in input commands.
| [in] | flag | marking a switch to or from chained mode. |
Reimplemented from controller_interface::ChainableControllerInterface.
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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.
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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.
Implements controller_interface::ChainableControllerInterface.
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overridevirtual |
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.
Implements controller_interface::ChainableControllerInterface.
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protected |
1.9.8