Class CanopenProxyController

Defined in File canopen_proxy_controller.hpp

Inheritance Relationships

Base Type

public controller_interface::ControllerInterface

Derived Type

public canopen_ros2_controllers::Cia402DeviceController (Class Cia402DeviceController)

Class Documentation

class CanopenProxyController : public controller_interface::ControllerInterface

Subclassed by canopen_ros2_controllers::Cia402DeviceController

Public Types

using ControllerCommandMsg = canopen_interfaces::msg::COData

using ControllerStartResetSrvType = std_srvs::srv::Trigger

using ControllerSDOReadSrvType = canopen_interfaces::srv::CORead

using ControllerSDOWriteSrvType = canopen_interfaces::srv::COWrite

using ControllerNMTStateMsg = std_msgs::msg::String

Public Functions

CANOPEN_ROS2_CONTROLLERS__VISIBILITY_PUBLIC CanopenProxyController()

CANOPEN_ROS2_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_init () override

CANOPEN_ROS2_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

CANOPEN_ROS2_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

CANOPEN_ROS2_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

CANOPEN_ROS2_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

CANOPEN_ROS2_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

CANOPEN_ROS2_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Types

using ControllerNmtStateRTPublisher = realtime_tools::RealtimePublisher<ControllerNMTStateMsg>

using ControllerRPDOPRTublisher = realtime_tools::RealtimePublisher<ControllerCommandMsg>

Protected Attributes

std::string joint_name_

rclcpp::Subscription<ControllerCommandMsg>::SharedPtr tpdo_subscriber_ = nullptr

realtime_tools::RealtimeBuffer<std::shared_ptr<ControllerCommandMsg>> input_cmd_

rclcpp::Publisher<ControllerNMTStateMsg>::SharedPtr nmt_state_pub_

std::unique_ptr<ControllerNmtStateRTPublisher> nmt_state_rt_publisher_

std::string nmt_state_actual_ = "BOOTUP"

rclcpp::Publisher<ControllerCommandMsg>::SharedPtr rpdo_pub_

std::unique_ptr<ControllerRPDOPRTublisher> rpdo_rt_publisher_

rclcpp::Service<ControllerStartResetSrvType>::SharedPtr nmt_state_reset_service_

rclcpp::Service<ControllerStartResetSrvType>::SharedPtr nmt_state_start_service_

rclcpp::Service<ControllerSDOReadSrvType>::SharedPtr sdo_read_service_

rclcpp::Service<ControllerSDOWriteSrvType>::SharedPtr sdo_write_service_