Class KukaMockHardwareInterface

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public hardware_interface::SystemInterface

Class Documentation

class KukaMockHardwareInterface : public hardware_interface::SystemInterface

Public Functions

CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
std::vector<hardware_interface::StateInterface> export_state_interfaces() override
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override
return_type prepare_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override
return_type perform_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override
return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override
return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Attributes

const std::vector<std::string> standard_interfaces_ = {hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY, hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT}

Use standard interfaces for joints because they are relevant for dynamic behavior.

By splitting the standard interfaces from other type, the users are able to inherit this class and simply create small “simulation” with desired dynamic behavior. The advantage over using Gazebo is that enables “quick & dirty” tests of robot’s URDF and controllers.

std::vector<MimicJoint> mimic_joints_
std::vector<std::vector<double>> joint_commands_

The size of this vector is (standard_interfaces_.size() x nr_joints)

std::vector<std::vector<double>> joint_states_
std::vector<std::string> other_interfaces_
std::vector<std::vector<double>> other_commands_

The size of this vector is (other_interfaces_.size() x nr_joints)

std::vector<std::vector<double>> other_states_
std::vector<std::string> sensor_interfaces_
std::vector<std::vector<double>> sensor_mock_commands_

The size of this vector is (sensor_interfaces_.size() x nr_joints)

std::vector<std::vector<double>> sensor_states_
std::vector<std::string> gpio_interfaces_
std::vector<std::vector<double>> gpio_mock_commands_

The size of this vector is (gpio_interfaces_.size() x nr_joints)

std::vector<std::vector<double>> gpio_commands_
std::vector<std::vector<double>> gpio_states_
RobotState robot_state_
double control_mode_ = 0
double receive_multiplier_ = 1
double send_period_ms_ = 10
double cycle_time_ms_ = 4
double drive_state_ = 0.0
double server_state_ = 0.0
double control_mode_state_ = 0.0
double cycle_time_state_ = 0.0
double drives_powered_ = 0.0
double emergency_stop_ = 0.0
double guard_stop_ = 0.0
double in_motion_ = 0.0
double motion_possible_ = 0.0
double operation_mode_ = 0.0
double robot_stopped_ = 1.0
std::chrono::nanoseconds cycle_time_nano_
int roundtrip_time_micro_
bool init_clock_ = true
std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> next_iteration_time_
struct MimicJoint

Public Members

std::size_t joint_index
std::size_t mimicked_joint_index
double multiplier = 1.0
struct RobotState

Public Members

double tracking_performance_ = 1
double session_state_ = 0
double connection_quality_ = 0
double command_mode_ = 0
double safety_state_ = 0
double control_mode_ = 0
double operation_mode_ = 0
double drive_state_ = 0
double overlay_type_ = 0