Hardware interface for a robot. More...

#include <generic_hw_interface.h>

Inheritance diagram for ros_control_boilerplate::GenericHWInterface:

Public Member Functions
virtual bool	canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
	Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW with regard to necessary hardware interface switches. Start and stop list are disjoint. This is just a check, the actual switch is done in doSwitch()
virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
	Perform (in non-realtime) all necessary hardware interface switches in order to start and stop the given controllers. Start and stop list are disjoint. The feasability was checked in canSwitch() beforehand.
virtual void	enforceLimits (ros::Duration &period)=0
	GenericHWInterface (ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
	Constructor.
virtual void	init ()
	Initialize the hardware interface.
std::string	printCommandHelper ()
	Helper for debugging a joint's command.
virtual void	printState ()
	Helper for debugging a joint's state.
std::string	printStateHelper ()
virtual void	read (ros::Duration &elapsed_time)=0
	Read the state from the robot hardware.
virtual void	registerJointLimits (const hardware_interface::JointHandle &joint_handle_position, const hardware_interface::JointHandle &joint_handle_velocity, const hardware_interface::JointHandle &joint_handle_effort, std::size_t joint_id)
	Register the limits of the joint specified by joint_id and joint_handle. The limits are retrieved from the urdf_model.
virtual void	reset ()
	Set all members to default values.
virtual void	write (ros::Duration &elapsed_time)=0
	Write the command to the robot hardware.
virtual	~GenericHWInterface ()
	Destructor.
Protected Member Functions
virtual void	loadURDF (ros::NodeHandle &nh, std::string param_name)
	Get the URDF XML from the parameter server.
Protected Attributes
joint_limits_interface::EffortJointSaturationInterface	eff_jnt_sat_interface_
joint_limits_interface::EffortJointSoftLimitsInterface	eff_jnt_soft_limits_
hardware_interface::EffortJointInterface	effort_joint_interface_
std::vector< double >	joint_effort_
std::vector< double >	joint_effort_command_
std::vector< double >	joint_effort_limits_
std::vector< std::string >	joint_names_
std::vector< double >	joint_position_
std::vector< double >	joint_position_command_
std::vector< double >	joint_position_lower_limits_
std::vector< double >	joint_position_upper_limits_
hardware_interface::JointStateInterface	joint_state_interface_
std::vector< double >	joint_velocity_
std::vector< double >	joint_velocity_command_
std::vector< double >	joint_velocity_limits_
std::string	name_
ros::NodeHandle	nh_
std::size_t	num_joints_
joint_limits_interface::PositionJointSaturationInterface	pos_jnt_sat_interface_
joint_limits_interface::PositionJointSoftLimitsInterface	pos_jnt_soft_limits_
hardware_interface::PositionJointInterface	position_joint_interface_
urdf::Model *	urdf_model_
bool	use_rosparam_joint_limits_
bool	use_soft_limits_if_available_
joint_limits_interface::VelocityJointSaturationInterface	vel_jnt_sat_interface_
joint_limits_interface::VelocityJointSoftLimitsInterface	vel_jnt_soft_limits_
hardware_interface::VelocityJointInterface	velocity_joint_interface_

Detailed Description

Hardware interface for a robot.

Definition at line 64 of file generic_hw_interface.h.

Constructor & Destructor Documentation

ros_control_boilerplate::GenericHWInterface::GenericHWInterface	(	ros::NodeHandle &	nh,
		urdf::Model *	urdf_model = `NULL`
	)

Constructor.

Parameters:

nh	- Node handle for topics.
urdf	- optional pointer to a parsed robot model

Definition at line 47 of file generic_hw_interface.cpp.

virtual ros_control_boilerplate::GenericHWInterface::~GenericHWInterface ( ) [inline, virtual]

Destructor.

Definition at line 75 of file generic_hw_interface.h.

Member Function Documentation

virtual bool ros_control_boilerplate::GenericHWInterface::canSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)		const `[inline, virtual]`

Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW with regard to necessary hardware interface switches. Start and stop list are disjoint. This is just a check, the actual switch is done in doSwitch()

Definition at line 95 of file generic_hw_interface.h.

virtual void ros_control_boilerplate::GenericHWInterface::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)		`[inline, virtual]`

Perform (in non-realtime) all necessary hardware interface switches in order to start and stop the given controllers. Start and stop list are disjoint. The feasability was checked in canSwitch() beforehand.

Reimplemented from hardware_interface::RobotHW.

Definition at line 106 of file generic_hw_interface.h.

virtual void ros_control_boilerplate::GenericHWInterface::enforceLimits ( ros::Duration & period ) [pure virtual]

Enforce limits for all values before writing

Implemented in ros_control_boilerplate::SimHWInterface, and rrbot_control::RRBotHWInterface.

void ros_control_boilerplate::GenericHWInterface::init ( ) [virtual]

Initialize the hardware interface.

Reimplemented in ros_control_boilerplate::SimHWInterface.

Definition at line 66 of file generic_hw_interface.cpp.

void ros_control_boilerplate::GenericHWInterface::loadURDF	(	ros::NodeHandle &	nh,
		std::string	param_name
	)		`[protected, virtual]`

Get the URDF XML from the parameter server.

Definition at line 304 of file generic_hw_interface.cpp.

std::string ros_control_boilerplate::GenericHWInterface::printCommandHelper ( )

Helper for debugging a joint's command.

Definition at line 290 of file generic_hw_interface.cpp.

void ros_control_boilerplate::GenericHWInterface::printState ( ) [virtual]

Helper for debugging a joint's state.

Definition at line 268 of file generic_hw_interface.cpp.

std::string ros_control_boilerplate::GenericHWInterface::printStateHelper ( )

Definition at line 276 of file generic_hw_interface.cpp.

virtual void ros_control_boilerplate::GenericHWInterface::read ( ros::Duration & elapsed_time ) [pure virtual]

Read the state from the robot hardware.

Implemented in ros_control_boilerplate::SimHWInterface, and rrbot_control::RRBotHWInterface.

void ros_control_boilerplate::GenericHWInterface::registerJointLimits	(	const hardware_interface::JointHandle &	joint_handle_position,
		const hardware_interface::JointHandle &	joint_handle_velocity,
		const hardware_interface::JointHandle &	joint_handle_effort,
		std::size_t	joint_id
	)		`[virtual]`