Class ForwardCommandController
Defined in File forward_command_controller.hpp
Inheritance Relationships
Base Type
public forward_command_controller::ForwardControllersBase(Class ForwardControllersBase)
Class Documentation
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class ForwardCommandController : public forward_command_controller::ForwardControllersBase
Forward command controller for a set of joints.
This class forwards the command signal down to a set of joints on the specified interface.
Subscribes to:
commands (std_msgs::msg::Float64MultiArray) : The commands to apply.
- Param joints:
Names of the joints to control.
- Param interface_name:
Name of the interface to command.
Public Functions
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FORWARD_COMMAND_CONTROLLER_PUBLIC ForwardCommandController()
Protected Functions
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virtual void declare_parameters() override
Derived controllers have to declare parameters in this method. Error handling does not have to be done. It is done in
on_init-method of this class.
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virtual controller_interface::CallbackReturn read_parameters() override
Derived controllers have to read parameters in this method and set
command_interface_types_variable. The variable is then used to propagate the command interface configuration to controller manager. The method is called fromon_configure-method of this class.It is expected that error handling of exceptions is done.
- Returns:
controller_interface::CallbackReturn::SUCCESS if parameters are successfully read and their values are allowed, controller_interface::CallbackReturn::ERROR otherwise.