pos_eff_controller.cpp

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// Copyright (C) 2015, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
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//   * Neither the names of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include <controller_manager_tests/pos_eff_controller.h>

using namespace controller_manager_tests;

bool PosEffController::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle &n)
{
  std::vector<std::string> pos_joints;
  if (!n.getParam("position_joints", pos_joints)) {return false;}

  std::vector<std::string> eff_joints;
  if (!n.getParam("effort_joints", eff_joints)) {return false;}

  typedef std::vector<std::string>::const_iterator NamesIterator;
  typedef hardware_interface::PositionJointInterface PosIface;
  typedef hardware_interface::EffortJointInterface EffIface;

  // should not fail, as initRequest should have checked interface existence
  PosIface* pos_iface = robot_hw->get<PosIface>();
  EffIface* eff_iface = robot_hw->get<EffIface>();

  // populate command handles (claimed resources)
  for (NamesIterator it = pos_joints.begin(); it != pos_joints.end(); it++)
  {
    pos_cmd_.push_back(pos_iface->getHandle(*it));
  }

  for (NamesIterator it = eff_joints.begin(); it != eff_joints.end(); it++)
  {
    eff_cmd_.push_back(eff_iface->getHandle(*it));
  }

  return true;
}

void PosEffController::starting(const ros::Time& /*time*/)
{
  ROS_INFO("Starting PosEffController");
}

void PosEffController::update(const ros::Time& /*time*/, const ros::Duration& /*period*/)
{}

void PosEffController::stopping(const ros::Time& /*time*/)
{
  ROS_INFO("Stopping PosEffController");
}

PLUGINLIB_EXPORT_CLASS(controller_manager_tests::PosEffController, controller_interface::ControllerBase)