#include <default_robot_hw_sim.h>

Inheritance diagram for gazebo_ros_control::DefaultRobotHWSim:

Public Member Functions
virtual void	eStopActive (const bool active)
	Set the emergency stop state. More...

virtual bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)
	Initialize the simulated robot hardware. More...

virtual void	readSim (ros::Time time, ros::Duration period)
	Read state data from the simulated robot hardware. More...

virtual void	writeSim (ros::Time time, ros::Duration period)
	Write commands to the simulated robot hardware. More...

Public Member Functions inherited from gazebo_ros_control::RobotHWSim
virtual	~RobotHWSim ()

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	init (ros::NodeHandle &, ros::NodeHandle &)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	read (const ros::Time &, const ros::Duration &)

virtual void	read (const ros::Time &, const ros::Duration &)

virtual SwitchState	switchResult (const ControllerInfo &) const

virtual SwitchState	switchResult () const

virtual void	write (const ros::Time &, const ros::Duration &)

virtual void	write (const ros::Time &, const ros::Duration &)

virtual	~RobotHW ()=default

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Protected Types
enum	ControlMethod { EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID }

Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager *>	InterfaceManagerVector

typedef std::map< std::string, void *>	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Member Functions
void	registerJointLimits (const std::string &joint_name, const hardware_interface::JointHandle &joint_handle, const ControlMethod ctrl_method, const ros::NodeHandle &joint_limit_nh, const urdf::Model const urdf_model, int const joint_type, double const lower_limit, double const upper_limit, double *const effort_limit)

Protected Attributes
bool	e_stop_active_

hardware_interface::EffortJointInterface	ej_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	ej_limits_interface_

joint_limits_interface::EffortJointSaturationInterface	ej_sat_interface_

std::vector< ControlMethod >	joint_control_methods_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

std::vector< double >	joint_effort_limits_

std::vector< double >	joint_lower_limits_

std::vector< std::string >	joint_names_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

std::vector< int >	joint_types_

std::vector< double >	joint_upper_limits_

std::vector< double >	joint_velocity_

std::vector< double >	joint_velocity_command_

hardware_interface::JointStateInterface	js_interface_

bool	last_e_stop_active_

std::vector< double >	last_joint_position_command_

unsigned int	n_dof_

std::string	physics_type_

std::vector< control_toolbox::Pid >	pid_controllers_

hardware_interface::PositionJointInterface	pj_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pj_limits_interface_

joint_limits_interface::PositionJointSaturationInterface	pj_sat_interface_

std::vector< gazebo::physics::JointPtr >	sim_joints_

hardware_interface::VelocityJointInterface	vj_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vj_limits_interface_

joint_limits_interface::VelocityJointSaturationInterface	vj_sat_interface_

Protected Attributes inherited from hardware_interface::InterfaceManager
std::vector< ResourceManagerBase *>	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState

Public Attributes inherited from hardware_interface::RobotHW
	DONE

	ERROR

	ONGOING

Detailed Description

Definition at line 74 of file default_robot_hw_sim.h.

Member Enumeration Documentation

◆ ControlMethod

enum gazebo_ros_control::DefaultRobotHWSim::ControlMethod

protected

Enumerator
EFFORT
POSITION
POSITION_PID
VELOCITY
VELOCITY_PID

Definition at line 93 of file default_robot_hw_sim.h.

Member Function Documentation

◆ eStopActive()

void gazebo_ros_control::DefaultRobotHWSim::eStopActive ( const bool active )

virtual

Set the emergency stop state.

Set the simulated robot's emergency stop state. The default implementation of this function does nothing.

Parameters

active true if the emergency stop is active, false if not.

Reimplemented from gazebo_ros_control::RobotHWSim.

Definition at line 385 of file default_robot_hw_sim.cpp.

◆ initSim()

bool gazebo_ros_control::DefaultRobotHWSim::initSim	(	const std::string &	robot_namespace,
		ros::NodeHandle	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)

virtual

Initialize the simulated robot hardware.

Parameters

robot_namespace	Robot namespace.
model_nh	Model node handle.
parent_model	Parent model.
urdf_model	URDF model.
transmissions	Transmissions.

Returns: true if the simulated robot hardware is initialized successfully, false if not.

Implements gazebo_ros_control::RobotHWSim.

Definition at line 60 of file default_robot_hw_sim.cpp.

◆ readSim()

void gazebo_ros_control::DefaultRobotHWSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Read state data from the simulated robot hardware.

Read state data, such as joint positions and velocities, from the simulated robot hardware.

Parameters

time	Simulation time.
period	Time since the last simulation step.

Implements gazebo_ros_control::RobotHWSim.

Definition at line 261 of file default_robot_hw_sim.cpp.

◆ registerJointLimits()

void gazebo_ros_control::DefaultRobotHWSim::registerJointLimits	(	const std::string &	joint_name,
		const hardware_interface::JointHandle &	joint_handle,
		const ControlMethod	ctrl_method,
		const ros::NodeHandle &	joint_limit_nh,
		const urdf::Model *const	urdf_model,
		int *const	joint_type,
		double *const	lower_limit,
		double *const	upper_limit,
		double *const	effort_limit
	)

protected

Definition at line 393 of file default_robot_hw_sim.cpp.

◆ writeSim()

void gazebo_ros_control::DefaultRobotHWSim::writeSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Write commands to the simulated robot hardware.

Write commands, such as joint position and velocity commands, to the simulated robot hardware.

Parameters

time	Simulation time.
period	Time since the last simulation step.

Implements gazebo_ros_control::RobotHWSim.

Definition at line 285 of file default_robot_hw_sim.cpp.

Member Data Documentation

◆ e_stop_active_

bool gazebo_ros_control::DefaultRobotHWSim::e_stop_active_

protected

Definition at line 140 of file default_robot_hw_sim.h.

◆ ej_interface_

hardware_interface::EffortJointInterface gazebo_ros_control::DefaultRobotHWSim::ej_interface_

protected

Definition at line 109 of file default_robot_hw_sim.h.

◆ ej_limits_interface_

joint_limits_interface::EffortJointSoftLimitsInterface gazebo_ros_control::DefaultRobotHWSim::ej_limits_interface_

protected

Definition at line 114 of file default_robot_hw_sim.h.

◆ ej_sat_interface_

joint_limits_interface::EffortJointSaturationInterface gazebo_ros_control::DefaultRobotHWSim::ej_sat_interface_

protected

Definition at line 113 of file default_robot_hw_sim.h.

◆ joint_control_methods_

std::vector<ControlMethod> gazebo_ros_control::DefaultRobotHWSim::joint_control_methods_

protected

Definition at line 125 of file default_robot_hw_sim.h.

◆ joint_effort_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::joint_effort_

protected

Definition at line 129 of file default_robot_hw_sim.h.

◆ joint_effort_command_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::joint_effort_command_

protected

Definition at line 130 of file default_robot_hw_sim.h.

◆ joint_effort_limits_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::joint_effort_limits_

protected

Definition at line 124 of file default_robot_hw_sim.h.

◆ joint_lower_limits_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::joint_lower_limits_

protected

Definition at line 122 of file default_robot_hw_sim.h.

◆ joint_names_

std::vector<std::string> gazebo_ros_control::DefaultRobotHWSim::joint_names_

protected

Definition at line 120 of file default_robot_hw_sim.h.

◆ joint_position_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::joint_position_

protected

Definition at line 127 of file default_robot_hw_sim.h.

◆ joint_position_command_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::joint_position_command_

protected

Definition at line 131 of file default_robot_hw_sim.h.

◆ joint_types_

std::vector<int> gazebo_ros_control::DefaultRobotHWSim::joint_types_

protected

Definition at line 121 of file default_robot_hw_sim.h.

◆ joint_upper_limits_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::joint_upper_limits_

protected

Definition at line 123 of file default_robot_hw_sim.h.

◆ joint_velocity_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::joint_velocity_

protected

Definition at line 128 of file default_robot_hw_sim.h.

◆ joint_velocity_command_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::joint_velocity_command_

protected

Definition at line 133 of file default_robot_hw_sim.h.

◆ js_interface_

hardware_interface::JointStateInterface gazebo_ros_control::DefaultRobotHWSim::js_interface_

protected

Definition at line 108 of file default_robot_hw_sim.h.

◆ last_e_stop_active_

bool gazebo_ros_control::DefaultRobotHWSim::last_e_stop_active_

protected

Definition at line 140 of file default_robot_hw_sim.h.

◆ last_joint_position_command_

std::vector<double> gazebo_ros_control::DefaultRobotHWSim::last_joint_position_command_

protected

Definition at line 132 of file default_robot_hw_sim.h.

◆ n_dof_

unsigned int gazebo_ros_control::DefaultRobotHWSim::n_dof_

protected

Definition at line 106 of file default_robot_hw_sim.h.

◆ physics_type_

std::string gazebo_ros_control::DefaultRobotHWSim::physics_type_

protected

Definition at line 137 of file default_robot_hw_sim.h.

◆ pid_controllers_

std::vector<control_toolbox::Pid> gazebo_ros_control::DefaultRobotHWSim::pid_controllers_

protected

Definition at line 126 of file default_robot_hw_sim.h.

◆ pj_interface_

hardware_interface::PositionJointInterface gazebo_ros_control::DefaultRobotHWSim::pj_interface_

protected

Definition at line 110 of file default_robot_hw_sim.h.

◆ pj_limits_interface_

joint_limits_interface::PositionJointSoftLimitsInterface gazebo_ros_control::DefaultRobotHWSim::pj_limits_interface_

protected

Definition at line 116 of file default_robot_hw_sim.h.

◆ pj_sat_interface_

joint_limits_interface::PositionJointSaturationInterface gazebo_ros_control::DefaultRobotHWSim::pj_sat_interface_

protected

Definition at line 115 of file default_robot_hw_sim.h.

◆ sim_joints_

std::vector<gazebo::physics::JointPtr> gazebo_ros_control::DefaultRobotHWSim::sim_joints_

protected

Definition at line 135 of file default_robot_hw_sim.h.

◆ vj_interface_

hardware_interface::VelocityJointInterface gazebo_ros_control::DefaultRobotHWSim::vj_interface_

protected

Definition at line 111 of file default_robot_hw_sim.h.

◆ vj_limits_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface gazebo_ros_control::DefaultRobotHWSim::vj_limits_interface_

protected

Definition at line 118 of file default_robot_hw_sim.h.

◆ vj_sat_interface_

joint_limits_interface::VelocityJointSaturationInterface gazebo_ros_control::DefaultRobotHWSim::vj_sat_interface_

protected

Definition at line 117 of file default_robot_hw_sim.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ControlMethod

Member Function Documentation

◆ eStopActive()

◆ initSim()

◆ readSim()

◆ registerJointLimits()

◆ writeSim()

Member Data Documentation

◆ e_stop_active_

◆ ej_interface_

◆ ej_limits_interface_

◆ ej_sat_interface_

◆ joint_control_methods_

◆ joint_effort_

◆ joint_effort_command_

◆ joint_effort_limits_

◆ joint_lower_limits_

◆ joint_names_

◆ joint_position_

◆ joint_position_command_

◆ joint_types_

◆ joint_upper_limits_

◆ joint_velocity_

◆ joint_velocity_command_

◆ js_interface_

◆ last_e_stop_active_

◆ last_joint_position_command_

◆ n_dof_

◆ physics_type_

◆ pid_controllers_

◆ pj_interface_

◆ pj_limits_interface_

◆ pj_sat_interface_

◆ sim_joints_

◆ vj_interface_

◆ vj_limits_interface_

◆ vj_sat_interface_