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.