Controller for executing a ParallelGripperCommand action. More...

#include <parallel_gripper_action_controller.hpp>

Inheritance diagram for parallel_gripper_action_controller::GripperActionController:

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Collaboration diagram for parallel_gripper_action_controller::GripperActionController:

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Classes
struct	Commands
	Store position and max effort in struct to allow easier realtime buffer usage. More...

Public Member Functions
controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	command_interface_configuration This controller requires the position command interfaces for the controlled joints

controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	command_interface_configuration This controller requires the position and velocity state interfaces for the controlled joints

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 &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	GripperCommandAction = control_msgs::action::ParallelGripperCommand

using	ActionServer = rclcpp_action::Server< GripperCommandAction >

using	ActionServerPtr = ActionServer::SharedPtr

using	GoalHandle = rclcpp_action::ServerGoalHandle< GripperCommandAction >

using	RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< control_msgs::action::ParallelGripperCommand >

using	RealtimeGoalHandlePtr = std::shared_ptr< RealtimeGoalHandle >

using	RealtimeGoalHandleBox = realtime_tools::RealtimeThreadSafeBox< RealtimeGoalHandlePtr >

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

rclcpp_action::CancelResponse	cancel_callback (const std::shared_ptr< GoalHandle > goal_handle)

void	accepted_callback (std::shared_ptr< GoalHandle > goal_handle)

void	preempt_active_goal ()

void	set_hold_position ()

void	check_for_success (const rclcpp::Time &time, double error_position, double current_position, double current_velocity)
	Check for success and publish appropriate result and feedback.

Protected Attributes
realtime_tools::RealtimeThreadSafeBox< Commands >	command_

Commands	command_struct_

Commands	command_struct_rt_

std::string	name_
	Controller name.

std::optional< std::reference_wrapper< hardware_interface::LoanedCommandInterface > >	joint_position_command_interface_

std::optional< std::reference_wrapper< hardware_interface::LoanedCommandInterface > >	joint_effort_command_interface_

std::optional< std::reference_wrapper< hardware_interface::LoanedCommandInterface > >	joint_speed_command_interface_

std::optional< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	joint_position_state_interface_

std::optional< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	joint_velocity_state_interface_

std::shared_ptr< ParamListener >	param_listener_

Params	params_

RealtimeGoalHandleBox	rt_active_goal_
	Container for the currently active action goal, if any.

control_msgs::action::ParallelGripperCommand::Result::SharedPtr	pre_alloc_result_

rclcpp::Duration	action_monitor_period_

ActionServerPtr	action_server_

rclcpp::TimerBase::SharedPtr	goal_handle_timer_

realtime_tools::RealtimeThreadSafeBox< rclcpp::Time >	last_movement_time_
	Store stall time.

double	computed_command_
	Computed command.

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

Controller for executing a ParallelGripperCommand action.

Template Parameters

HardwareInterface Controller hardware interface. Currently hardware_interface::HW_IF_POSITION and hardware_interface::HW_IF_EFFORT are supported out-of-the-box.

Member Function Documentation

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration parallel_gripper_action_controller::GripperActionController::command_interface_configuration ( ) const

overridevirtual

command_interface_configuration This controller requires the position command interfaces for the controlled joints

Implements controller_interface::ControllerInterfaceBase.

◆ on_init()

controller_interface::CallbackReturn parallel_gripper_action_controller::GripperActionController::on_init ( )

overridevirtual

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

Implements controller_interface::ControllerInterfaceBase.

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration parallel_gripper_action_controller::GripperActionController::state_interface_configuration ( ) const

overridevirtual

command_interface_configuration This controller requires the position and velocity state interfaces for the controlled joints

Implements controller_interface::ControllerInterfaceBase.

◆ update()

controller_interface::return_type parallel_gripper_action_controller::GripperActionController::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/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp
ros2_controllers/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ command_interface_configuration()

◆ on_init()

◆ state_interface_configuration()

◆ update()