ROS Controller Manager and Runner. More...

#include <controller_manager.h>

Classes
struct	SwitchParams

Public Member Functions
	ControllerManager (hardware_interface::RobotHW *robot_hw, const ros::NodeHandle &nh=ros::NodeHandle())
	Constructor. More...

virtual	~ControllerManager ()=default

Real-Time Safe Functions
void	update (const ros::Time &time, const ros::Duration &period, bool reset_controllers=false)
	Update all active controllers. More...

Static Public Attributes
static constexpr double	INFINITE_TIMEOUT = 0.0

static constexpr bool	WAIT_FOR_ALL_RESOURCES = false

Private Attributes
Controller Switching
std::vector< controller_interface::ControllerBase * >	start_request_

std::vector< controller_interface::ControllerBase * >	stop_request_

std::list< hardware_interface::ControllerInfo >	switch_start_list_

std::list< hardware_interface::ControllerInfo >	switch_stop_list_

SwitchParams	switch_params_

Controllers List
The controllers list is double-buffered to avoid needing to lock the real-time thread when switching controllers in the non-real-time thread.
std::recursive_mutex	controllers_lock_
	Mutex protecting the current controllers list. More...

std::vector< ControllerSpec >	controllers_lists_ [2]
	Double-buffered controllers list. More...

int	current_controllers_list_ = {0}
	The index of the current controllers list. More...

int	used_by_realtime_ = {-1}
	The index of the controllers list being used in the real-time thread. More...

Non Real-Time Safe Functions
hardware_interface::RobotHW *	robot_hw_

ros::NodeHandle	root_nh_

ros::NodeHandle	cm_node_

std::list< ControllerLoaderInterfaceSharedPtr >	controller_loaders_

bool	loadController (const std::string &name)
	Load a new controller by name. More...

bool	unloadController (const std::string &name)
	Unload a controller by name. More...

bool	switchController (const std::vector< std::string > &start_controllers, const std::vector< std::string > &stop_controllers, const int strictness, bool start_asap=WAIT_FOR_ALL_RESOURCES, double timeout=INFINITE_TIMEOUT)
	Switch multiple controllers simultaneously. More...

virtual controller_interface::ControllerBase *	getControllerByName (const std::string &name)
	Get a controller by name. More...

void	registerControllerLoader (ControllerLoaderInterfaceSharedPtr controller_loader)
	Register a controller loader. More...

void	getControllerNames (std::vector< std::string > &v)

void	manageSwitch (const ros::Time &time)

void	stopControllers (const ros::Time &time)

void	startControllers (const ros::Time &time)

void	startControllersAsap (const ros::Time &time)

ROS Service API
std::mutex	services_lock_

ros::ServiceServer	srv_list_controllers_

ros::ServiceServer	srv_list_controller_types_

ros::ServiceServer	srv_load_controller_

ros::ServiceServer	srv_unload_controller_

ros::ServiceServer	srv_switch_controller_

ros::ServiceServer	srv_reload_libraries_

bool	listControllerTypesSrv (controller_manager_msgs::ListControllerTypes::Request &req, controller_manager_msgs::ListControllerTypes::Response &resp)

bool	listControllersSrv (controller_manager_msgs::ListControllers::Request &req, controller_manager_msgs::ListControllers::Response &resp)

bool	switchControllerSrv (controller_manager_msgs::SwitchController::Request &req, controller_manager_msgs::SwitchController::Response &resp)

bool	loadControllerSrv (controller_manager_msgs::LoadController::Request &req, controller_manager_msgs::LoadController::Response &resp)

bool	unloadControllerSrv (controller_manager_msgs::UnloadController::Request &req, controller_manager_msgs::UnloadController::Response &resp)

bool	reloadControllerLibrariesSrv (controller_manager_msgs::ReloadControllerLibraries::Request &req, controller_manager_msgs::ReloadControllerLibraries::Response &resp)

Detailed Description

ROS Controller Manager and Runner.

This class advertises a ROS interface for loading, unloading, starting, and stopping ros_control-based controllers. It also serializes execution of all running controllers in update.

Definition at line 64 of file controller_manager.h.

Constructor & Destructor Documentation

◆ ControllerManager()

controller_manager::ControllerManager::ControllerManager	(	hardware_interface::RobotHW *	robot_hw,
		const ros::NodeHandle &	nh = `ros::NodeHandle()`
	)

Constructor.

Parameters

robot_hw	A pointer to a robot hardware interface
nh	The ros::NodeHandle in whose namespace all ROS interfaces should operate.

Definition at line 45 of file controller_manager.cpp.

◆ ~ControllerManager()

virtual controller_manager::ControllerManager::~ControllerManager ( )

virtualdefault

Member Function Documentation

◆ getControllerByName()

controller_interface::ControllerBase * controller_manager::ControllerManager::getControllerByName ( const std::string & name )

virtual

Get a controller by name.

Parameters

name	The name of a controller

Returns: An up-casted pointer to the controller identified by name

Definition at line 92 of file controller_manager.cpp.

◆ getControllerNames()

void controller_manager::ControllerManager::getControllerNames ( std::vector< std::string > & v )

private

Definition at line 105 of file controller_manager.cpp.

◆ listControllersSrv()

bool controller_manager::ControllerManager::listControllersSrv	(	controller_manager_msgs::ListControllers::Request &	req,
		controller_manager_msgs::ListControllers::Response &	resp
	)

private

Definition at line 722 of file controller_manager.cpp.

◆ listControllerTypesSrv()

bool controller_manager::ControllerManager::listControllerTypesSrv	(	controller_manager_msgs::ListControllerTypes::Request &	req,
		controller_manager_msgs::ListControllerTypes::Response &	resp
	)

private

Definition at line 695 of file controller_manager.cpp.

◆ loadController()

bool controller_manager::ControllerManager::loadController ( const std::string & name )

Load a new controller by name.

This dynamically loads a controller called name and initializes the newly loaded controller.

It determines the controller type by accessing the ROS parameter "type" in the namespace given by name relative to the namespace of root_nh_. It then initializes the controller with the hardware_interface::RobotHW pointer robot_hw_, the ros::NodeHandle describing this namespace, and a reference to a std::set to retrieve the resources needed by this controller.

A controller cannot be loaded while already loaded. To re-load a controller, first unloadController and then loadController.

Parameters

name	The name of the controller as well as the ROS namespace under which the controller should be loaded

Returns: True on success; False on failure

Definition at line 229 of file controller_manager.cpp.

◆ loadControllerSrv()

bool controller_manager::ControllerManager::loadControllerSrv	(	controller_manager_msgs::LoadController::Request &	req,
		controller_manager_msgs::LoadController::Response &	resp
	)

private

Definition at line 789 of file controller_manager.cpp.

◆ manageSwitch()

void controller_manager::ControllerManager::manageSwitch ( const ros::Time & time )

private

Definition at line 115 of file controller_manager.cpp.

◆ registerControllerLoader()

void controller_manager::ControllerManager::registerControllerLoader ( ControllerLoaderInterfaceSharedPtr controller_loader )

Register a controller loader.

By default, the pluginlib-based ControllerLoader is registered on construction of this class. To load controllers through alternate means, register alternate controller loaders here. Note, however, that when controllers are loaded by loadController the controller loaders are queried in the order that they were registered. This means that if a controller CAN be loaded by the pluginlib-based ControllerLoader, then it WILL, regardless of which other loaders are registered.

Parameters

controller_loader A pointer to the loader to be registered

Definition at line 837 of file controller_manager.cpp.

◆ reloadControllerLibrariesSrv()

bool controller_manager::ControllerManager::reloadControllerLibrariesSrv	(	controller_manager_msgs::ReloadControllerLibraries::Request &	req,
		controller_manager_msgs::ReloadControllerLibraries::Response &	resp
	)

private

Definition at line 642 of file controller_manager.cpp.

◆ startControllers()

void controller_manager::ControllerManager::startControllers ( const ros::Time & time )

private

Definition at line 150 of file controller_manager.cpp.

◆ startControllersAsap()

void controller_manager::ControllerManager::startControllersAsap ( const ros::Time & time )

private

Definition at line 184 of file controller_manager.cpp.

◆ stopControllers()

void controller_manager::ControllerManager::stopControllers ( const ros::Time & time )

private

Definition at line 138 of file controller_manager.cpp.

◆ switchController()

bool controller_manager::ControllerManager::switchController	(	const std::vector< std::string > &	start_controllers,
		const std::vector< std::string > &	stop_controllers,
		const int	strictness,
		bool	start_asap = `WAIT_FOR_ALL_RESOURCES`,
		double	timeout = `INFINITE_TIMEOUT`
	)

Switch multiple controllers simultaneously.

Parameters

start_controllers	A vector of controller names to be started
stop_controllers	A vector of controller names to be stopped
strictness	How important it is that the requested controllers are started and stopped. The levels are defined in the controller_manager_msgs/SwitchControllers service as either `BEST_EFFORT` or `STRICT`. `BEST_EFFORT` means that switchController can still succeed if a non-existent controller is requested to be stopped or started.
start_asap	Start the controllers as soon as their resources are ready, will wait for all resources to be ready otherwise.
timeout	The timeout in seconds before aborting pending controllers. Zero for infinite.

Definition at line 436 of file controller_manager.cpp.

◆ switchControllerSrv()

bool controller_manager::ControllerManager::switchControllerSrv	(	controller_manager_msgs::SwitchController::Request &	req,
		controller_manager_msgs::SwitchController::Response &	resp
	)

private

Definition at line 821 of file controller_manager.cpp.

◆ unloadController()

bool controller_manager::ControllerManager::unloadController ( const std::string & name )

Unload a controller by name.

Parameters

name	The name of the controller to unload. (The same as the one used in loadController )

Definition at line 367 of file controller_manager.cpp.

◆ unloadControllerSrv()

bool controller_manager::ControllerManager::unloadControllerSrv	(	controller_manager_msgs::UnloadController::Request &	req,
		controller_manager_msgs::UnloadController::Response &	resp
	)

private

Definition at line 805 of file controller_manager.cpp.

◆ update()

void controller_manager::ControllerManager::update	(	const ros::Time &	time,
		const ros::Duration &	period,
		bool	reset_controllers = `false`
	)

Update all active controllers.

When controllers are started or stopped (or switched), those calls are made in this function.

Parameters

time	The current time
period	The change in time since the last call to update
reset_controllers	If `true`, stop and start all running controllers before updating

Definition at line 66 of file controller_manager.cpp.

Member Data Documentation

◆ cm_node_

ros::NodeHandle controller_manager::ControllerManager::cm_node_

private

Definition at line 182 of file controller_manager.h.

◆ controller_loaders_

std::list<ControllerLoaderInterfaceSharedPtr> controller_manager::ControllerManager::controller_loaders_

private

Definition at line 184 of file controller_manager.h.

◆ controllers_lists_

std::vector<ControllerSpec> controller_manager::ControllerManager::controllers_lists_[2]

private

Double-buffered controllers list.

Definition at line 214 of file controller_manager.h.

◆ controllers_lock_

std::recursive_mutex controller_manager::ControllerManager::controllers_lock_

private

Mutex protecting the current controllers list.

Definition at line 212 of file controller_manager.h.

◆ current_controllers_list_

int controller_manager::ControllerManager::current_controllers_list_ = {0}

private

The index of the current controllers list.

Definition at line 216 of file controller_manager.h.

◆ INFINITE_TIMEOUT

constexpr double controller_manager::ControllerManager::INFINITE_TIMEOUT = 0.0

staticconstexpr

Definition at line 68 of file controller_manager.h.

◆ robot_hw_

hardware_interface::RobotHW* controller_manager::ControllerManager::robot_hw_

private

Definition at line 180 of file controller_manager.h.

◆ root_nh_

ros::NodeHandle controller_manager::ControllerManager::root_nh_

private

Definition at line 182 of file controller_manager.h.

◆ services_lock_

std::mutex controller_manager::ControllerManager::services_lock_

private

Definition at line 236 of file controller_manager.h.

◆ srv_list_controller_types_

ros::ServiceServer controller_manager::ControllerManager::srv_list_controller_types_

private

Definition at line 237 of file controller_manager.h.

◆ srv_list_controllers_

ros::ServiceServer controller_manager::ControllerManager::srv_list_controllers_

private

Definition at line 237 of file controller_manager.h.

◆ srv_load_controller_

ros::ServiceServer controller_manager::ControllerManager::srv_load_controller_

private

Definition at line 237 of file controller_manager.h.

◆ srv_reload_libraries_

ros::ServiceServer controller_manager::ControllerManager::srv_reload_libraries_

private

Definition at line 238 of file controller_manager.h.

◆ srv_switch_controller_

ros::ServiceServer controller_manager::ControllerManager::srv_switch_controller_

private

Definition at line 238 of file controller_manager.h.

◆ srv_unload_controller_

ros::ServiceServer controller_manager::ControllerManager::srv_unload_controller_

private

Definition at line 238 of file controller_manager.h.

◆ start_request_

std::vector<controller_interface::ControllerBase*> controller_manager::ControllerManager::start_request_

private

Definition at line 188 of file controller_manager.h.

◆ stop_request_

std::vector<controller_interface::ControllerBase*> controller_manager::ControllerManager::stop_request_

private

Definition at line 188 of file controller_manager.h.

◆ switch_params_

SwitchParams controller_manager::ControllerManager::switch_params_

private

Definition at line 203 of file controller_manager.h.

◆ switch_start_list_

std::list<hardware_interface::ControllerInfo> controller_manager::ControllerManager::switch_start_list_

private

Definition at line 189 of file controller_manager.h.

◆ switch_stop_list_

std::list<hardware_interface::ControllerInfo> controller_manager::ControllerManager::switch_stop_list_

private

Definition at line 189 of file controller_manager.h.

◆ used_by_realtime_

int controller_manager::ControllerManager::used_by_realtime_ = {-1}

private

The index of the controllers list being used in the real-time thread.

Definition at line 218 of file controller_manager.h.

◆ WAIT_FOR_ALL_RESOURCES

constexpr bool controller_manager::ControllerManager::WAIT_FOR_ALL_RESOURCES = false

staticconstexpr

Definition at line 67 of file controller_manager.h.

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

Classes

Public Member Functions

Static Public Attributes

Private Attributes

Non Real-Time Safe Functions

ROS Service API

Detailed Description

Constructor & Destructor Documentation

◆ ControllerManager()

◆ ~ControllerManager()

Member Function Documentation

◆ getControllerByName()

◆ getControllerNames()

◆ listControllersSrv()

◆ listControllerTypesSrv()

◆ loadController()

◆ loadControllerSrv()

◆ manageSwitch()

◆ registerControllerLoader()

◆ reloadControllerLibrariesSrv()

◆ startControllers()

◆ startControllersAsap()

◆ stopControllers()

◆ switchController()

◆ switchControllerSrv()

◆ unloadController()

◆ unloadControllerSrv()

◆ update()

Member Data Documentation

◆ cm_node_

◆ controller_loaders_

◆ controllers_lists_

◆ controllers_lock_

◆ current_controllers_list_

◆ INFINITE_TIMEOUT

◆ robot_hw_

◆ root_nh_

◆ services_lock_

◆ srv_list_controller_types_

◆ srv_list_controllers_

◆ srv_load_controller_

◆ srv_reload_libraries_

◆ srv_switch_controller_

◆ srv_unload_controller_

◆ start_request_

◆ stop_request_

◆ switch_params_

◆ switch_start_list_

◆ switch_stop_list_

◆ used_by_realtime_

◆ WAIT_FOR_ALL_RESOURCES