Class ForceTorqueSensorBroadcaster

• Defined in File force_torque_sensor_broadcaster.hpp

Inheritance Relationships

Base Type

• public controller_interface::ChainableControllerInterface

Class Documentation

class ForceTorqueSensorBroadcaster : public controller_interface::ChainableControllerInterface

Public Functions

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC ForceTorqueSensorBroadcaster()

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_init () override

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::return_type update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC controller_interface::return_type update_reference_from_subscribers (const rclcpp::Time &time, const rclcpp::Duration &period) override

FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC std::vector< hardware_interface::StateInterface > on_export_state_interfaces () override

Protected Types

using StatePublisher = realtime_tools::RealtimePublisher<geometry_msgs::msg::WrenchStamped>

Protected Functions

void apply_sensor_offset(const Params &params, geometry_msgs::msg::WrenchStamped &msg)

Protected Attributes

std::shared_ptr<ParamListener> param_listener_

Params params_

std::unique_ptr<semantic_components::ForceTorqueSensor> force_torque_sensor_

rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr sensor_state_publisher_

std::unique_ptr<StatePublisher> realtime_publisher_