gz_ros2_control_plugin_utils.hpp

// Copyright 2026 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef GZ_ROS2_CONTROL_PLUGIN_UTILS_HPP_
#define GZ_ROS2_CONTROL_PLUGIN_UTILS_HPP_
 
#include <map>
#include <optional>
#include <string>
#include <vector>
 
#include <gz/sim/Entity.hh>
#include <gz/sim/EntityComponentManager.hh>
#include <sdf/Element.hh>
 
#include <rclcpp/duration.hpp>
#include <rclcpp/logger.hpp>
 
// Internal helpers of GazeboSimROS2ControlPlugin. Not installed, only shared with the tests.
namespace gz_ros2_control::detail
{
struct PluginConfig
{
  std::vector<std::string> parameter_files;
 
  std::string controller_manager_name{"controller_manager"};
 
  double hardware_init_timeout{0.0};
 
  bool hold_joints{true};
 
  double position_proportional_gain{0.1};
 
  std::string ns{"/"};
 
  std::vector<std::string> remappings;
};
 
std::optional<PluginConfig> ParsePluginConfig(
  const sdf::ElementConstPtr & sdf, std::string & error);
 
std::string NormalizeNamespace(const std::string & ns);
 
std::vector<std::string> BuildRosArguments(const PluginConfig & config);
 
std::map<std::string, gz::sim::Entity> GetEnabledJoints(
  const gz::sim::Entity & model,
  const gz::sim::EntityComponentManager & ecm,
  const rclcpp::Logger & logger);
 
enum class PeriodMismatch
{
  kNone,
  kControlFaster,
  kControlSlower,
};
 
PeriodMismatch CheckPeriodMismatch(
  const rclcpp::Duration & control_period,
  const rclcpp::Duration & gazebo_period);
 
bool ShouldUpdate(
  const rclcpp::Duration & sim_period,
  const rclcpp::Duration & control_period);
}  // namespace gz_ros2_control::detail
 
#endif  // GZ_ROS2_CONTROL_PLUGIN_UTILS_HPP_