ign_system_interface.hpp

Go to the documentation of this file.

// Copyright 2022 The ros_control team.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef IGN_ROS_CONTROL__IGN_SYSTEM_INTERFACE_HPP_
#define IGN_ROS_CONTROL__IGN_SYSTEM_INTERFACE_HPP_
 
#include <ignition/gazebo/System.hh>
 
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include <ros/ros.h>
#include <hardware_interface/robot_hw.h>
#include <transmission_interface/transmission_info.h>
 
// ros_control
#include <hardware_interface/robot_hw.h>
#include <hardware_interface/joint_command_interface.h>
 
namespace ign_ros_control
{
 
// SystemInterface provides API-level access to read and command joint properties.
class IgnitionSystemInterface
    : public hardware_interface::RobotHW
{
public:
 
  virtual bool initSim(
      ros::NodeHandle model_nh,
      std::map<std::string, ignition::gazebo::Entity> & joints,
      ignition::gazebo::EntityComponentManager & _ecm,
      std::vector<transmission_interface::TransmissionInfo> transmissions,
      int & update_rate) = 0;
 
  // Methods used to control a joint.
  enum ControlMethod {EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID};
 
  virtual void read() = 0;
  //
  virtual void write() = 0;
 
protected:
 
  ros::NodeHandle nh_;
};
 
}  // namespace ign_ros_control
 
#endif  // IGN_ROS_CONTROL__IGN_SYSTEM_INTERFACE_HPP_