Forward command controller for a set of effort controlled joints (torque or force). More...

#include <joint_group_position_controller.h>

Inheritance diagram for effort_controllers::JointGroupPositionController:

Public Member Functions
bool	init (hardware_interface::EffortJointInterface *hw, ros::NodeHandle &n)

	JointGroupPositionController ()
	Forward command controller for a set of effort controlled joints (torque or force). More...

void	starting (const ros::Time &)

void	update (const ros::Time &, const ros::Duration &)

	~JointGroupPositionController ()

Public Member Functions inherited from controller_interface::Controller< hardware_interface::EffortJointInterface >
virtual bool	init (T *, ros::NodeHandle &)

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

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Public Attributes
realtime_tools::RealtimeBuffer< std::vector< double > >	commands_buffer_

std::vector< std::string >	joint_names_

std::vector< hardware_interface::JointHandle >	joints_

unsigned int	n_joints_

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Private Member Functions
void	commandCB (const std_msgs::Float64MultiArrayConstPtr &msg)

void	enforceJointLimits (double &command, unsigned int index)

Private Attributes
std::vector< urdf::JointConstSharedPtr >	joint_urdfs_

std::vector< control_toolbox::Pid >	pid_controllers_

ros::Subscriber	sub_command_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

enum	ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED }

Protected Member Functions inherited from controller_interface::Controller< hardware_interface::EffortJointInterface >
std::string	getHardwareInterfaceType () const

bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Detailed Description

Forward command controller for a set of effort controlled joints (torque or force).

This class forwards the commanded efforts down to a set of joints.

ROS interface

Parameters

type	Must be "JointGroupEffortController".
joints	List of names of the joints to control.

Subscribes to:

command (std_msgs::Float64MultiArray) : The joint efforts to apply

Definition at line 102 of file joint_group_position_controller.h.

Constructor & Destructor Documentation

◆ JointGroupPositionController()

effort_controllers::JointGroupPositionController::JointGroupPositionController ( )

Forward command controller for a set of effort controlled joints (torque or force).

This class forwards the commanded efforts down to a set of joints.

ROS interface

Parameters

type	Must be "JointGroupEffortController".
joints	List of names of the joints to control.

Subscribes to:

command (std_msgs::Float64MultiArray) : The joint efforts to apply

Definition at line 93 of file joint_group_position_controller.cpp.

◆ ~JointGroupPositionController()

effort_controllers::JointGroupPositionController::~JointGroupPositionController ( )

Definition at line 94 of file joint_group_position_controller.cpp.

Member Function Documentation

◆ commandCB()

void effort_controllers::JointGroupPositionController::commandCB ( const std_msgs::Float64MultiArrayConstPtr & msg )

private

Definition at line 212 of file joint_group_position_controller.cpp.

◆ enforceJointLimits()

void effort_controllers::JointGroupPositionController::enforceJointLimits	(	double &	command,
		unsigned int	index
	)

private

Definition at line 222 of file joint_group_position_controller.cpp.

◆ init()

bool effort_controllers::JointGroupPositionController::init	(	hardware_interface::EffortJointInterface *	hw,
		ros::NodeHandle &	n
	)

Definition at line 96 of file joint_group_position_controller.cpp.

◆ starting()

void effort_controllers::JointGroupPositionController::starting ( const ros::Time & time )

virtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 158 of file joint_group_position_controller.cpp.

◆ update()

void effort_controllers::JointGroupPositionController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Implements controller_interface::ControllerBase.

Definition at line 170 of file joint_group_position_controller.cpp.

Member Data Documentation

◆ commands_buffer_

realtime_tools::RealtimeBuffer<std::vector<double> > effort_controllers::JointGroupPositionController::commands_buffer_

Definition at line 149 of file joint_group_position_controller.h.

◆ joint_names_

std::vector< std::string > effort_controllers::JointGroupPositionController::joint_names_

Definition at line 147 of file joint_group_position_controller.h.

◆ joint_urdfs_

std::vector<urdf::JointConstSharedPtr> effort_controllers::JointGroupPositionController::joint_urdfs_

private

Definition at line 157 of file joint_group_position_controller.h.

◆ joints_

std::vector< hardware_interface::JointHandle > effort_controllers::JointGroupPositionController::joints_

Definition at line 148 of file joint_group_position_controller.h.

◆ n_joints_

unsigned int effort_controllers::JointGroupPositionController::n_joints_

Definition at line 150 of file joint_group_position_controller.h.

◆ pid_controllers_

std::vector<control_toolbox::Pid> effort_controllers::JointGroupPositionController::pid_controllers_

private

Internal PID controllers.

Definition at line 155 of file joint_group_position_controller.h.

◆ sub_command_

ros::Subscriber effort_controllers::JointGroupPositionController::sub_command_

private

Definition at line 153 of file joint_group_position_controller.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

ROS interface

Constructor & Destructor Documentation

◆ JointGroupPositionController()

ROS interface

◆ ~JointGroupPositionController()

Member Function Documentation

◆ commandCB()

◆ enforceJointLimits()

◆ init()

◆ starting()

◆ update()

Member Data Documentation

◆ commands_buffer_

◆ joint_names_

◆ joint_urdfs_

◆ joints_

◆ n_joints_

◆ pid_controllers_

◆ sub_command_