Gazebo plugin version of RobotHW. More...

#include <robot_hw_sim.h>

Inheritance diagram for gazebo_ros_control::RobotHWSim:

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)=0
	Initialize the simulated robot hardware. More...

virtual void	readSim (ros::Time time, ros::Duration period)=0
	Read state data from the simulated robot hardware. More...

virtual void	writeSim (ros::Time time, ros::Duration period)=0
	Write commands to the simulated robot hardware. More...

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)

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

Public Attributes inherited from hardware_interface::RobotHW
	DONE

	ERROR

	ONGOING

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 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_

Detailed Description

Gazebo plugin version of RobotHW.

An object of class RobotHWSim represents a robot's simulated hardware.

Definition at line 68 of file robot_hw_sim.h.

Constructor & Destructor Documentation

◆ ~RobotHWSim()

virtual gazebo_ros_control::RobotHWSim::~RobotHWSim ( )

inlinevirtual

Definition at line 72 of file robot_hw_sim.h.

Member Function Documentation

◆ eStopActive()

virtual void gazebo_ros_control::RobotHWSim::eStopActive ( const bool active )

inlinevirtual

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 in gazebo_ros_control::DefaultRobotHWSim.

Definition at line 113 of file robot_hw_sim.h.

◆ initSim()

virtual bool gazebo_ros_control::RobotHWSim::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
	)

pure 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.

Implemented in gazebo_ros_control::DefaultRobotHWSim.

◆ readSim()

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

pure 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.

Implemented in gazebo_ros_control::DefaultRobotHWSim.

◆ writeSim()

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

pure 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.

Implemented in gazebo_ros_control::DefaultRobotHWSim.

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

robot_hw_sim.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~RobotHWSim()

Member Function Documentation

◆ eStopActive()

◆ initSim()

◆ readSim()

◆ writeSim()