Class ForwardControllersBase
Defined in File forward_controllers_base.hpp
Inheritance Relationships
Base Type
public controller_interface::ControllerInterface
Derived Types
public forward_command_controller::ForwardCommandController(Class ForwardCommandController)public forward_command_controller::MultiInterfaceForwardCommandController(Class MultiInterfaceForwardCommandController)
Class Documentation
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class ForwardControllersBase : public controller_interface::ControllerInterface
Forward command controller for a set of joints and interfaces.
This class forwards the command signal down to a set of joints or interfaces.
Subscribes to:
commands (std_msgs::msg::Float64MultiArray) : The commands to apply.
Subclassed by forward_command_controller::ForwardCommandController, forward_command_controller::MultiInterfaceForwardCommandController
Public Functions
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FORWARD_COMMAND_CONTROLLER_PUBLIC ForwardControllersBase()
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FORWARD_COMMAND_CONTROLLER_PUBLIC ~ForwardControllersBase() = default
- FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override
- FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override
- FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init () override
- FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override
- FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override
- FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override
- FORWARD_COMMAND_CONTROLLER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override
Protected Functions
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virtual void declare_parameters() = 0
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() = 0
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.