Class ControllerLoader

• Defined in File controller_loader.h

Class Documentation

class ControllerLoader

Class for loading and managing a single controller.

Public Functions

ControllerLoader()

Initialize this loader.

bool init(const std::string &name, std::shared_ptr<rclcpp::Node> node, std::shared_ptr<ControllerManager> manager)

Load the controller.

bool start()

This calls through to controller, saves state locally.

bool stop(bool force)

This calls through to controller, saves state locally.

bool reset()

This calls through to controller.

void update(const rclcpp::Time &time, const rclcpp::Duration &dt)

If controller is active, calls through to controller.

bool isActive()

Returns true if the controller is active.

ControllerPtr getController()

Returns the controller held by this loader.