Class RobotManagerBase
Defined in File robot_manager_base.hpp
Inheritance Relationships
Base Type
public kuka_drivers_core::ROS2BaseLCNode
Derived Types
public kuka_rsi_driver::RobotManagerNodeEkiRsi(Class RobotManagerNodeEkiRsi)public kuka_rsi_driver::RobotManagerNodeRsi(Class RobotManagerNodeRsi)
Class Documentation
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class RobotManagerBase : public kuka_drivers_core::ROS2BaseLCNode
Subclassed by kuka_rsi_driver::RobotManagerNodeEkiRsi, kuka_rsi_driver::RobotManagerNodeRsi
Public Functions
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RobotManagerBase()
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virtual ~RobotManagerBase() = default
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CallbackReturn configure_driver(const std::vector<std::string> &controllers_to_activate)
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CallbackReturn cleanup_driver(const std::vector<std::string> &controllers_to_deactivate)
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CallbackReturn on_activate(const rclcpp_lifecycle::State&) override
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CallbackReturn on_deactivate(const rclcpp_lifecycle::State&) override
Protected Functions
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bool onRobotModelChangeRequest(const std::string &robot_model)
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virtual bool OnControlModeChangeRequest(const int control_mode)
Protected Attributes
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rclcpp::Client<controller_manager_msgs::srv::SetHardwareComponentState>::SharedPtr change_hardware_state_client_
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rclcpp::Client<controller_manager_msgs::srv::SwitchController>::SharedPtr change_controller_state_client_
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rclcpp::CallbackGroup::SharedPtr cbg_
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std::string robot_model_
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bool use_gpio_ = false
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std::string position_controller_name_
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kuka_drivers_core::ControllerHandler controller_handler_
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kuka_drivers_core::ControlMode control_mode_ = kuka_drivers_core::ControlMode::CONTROL_MODE_UNSPECIFIED
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std::atomic<bool> terminate_ = {false}
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std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Bool>> is_configured_pub_
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std_msgs::msg::Bool is_configured_msg_
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rclcpp::CallbackGroup::SharedPtr event_callback_group_
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rclcpp::Subscription<std_msgs::msg::UInt8>::SharedPtr event_subscriber_
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RobotManagerBase()