Class KukaMockHardwareInterface

• Defined in File hardware_interface.hpp

Nested Relationships

Nested Types

• Struct KukaMockHardwareInterface::MimicJoint

• Struct KukaMockHardwareInterface::RobotState

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 server_state_

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