Controller for executing joint-space trajectories on a group of joints. More...
#include <joint_trajectory_controller.h>
Classes | |
| struct | TimeData |
Public Member Functions | |
| JointTrajectoryController () | |
Non Real-Time Safe Functions | |
| bool | init (HardwareInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) |
 Public Member Functions inherited from controller_interface::Controller< HardwareInterface > | |
| 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) |
| 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 |
Real-Time Safe Functions | |
| typedef actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction > | ActionServer |
| typedef std::shared_ptr< ActionServer > | ActionServerPtr |
| typedef ActionServer::GoalHandle | GoalHandle |
| typedef realtime_tools::RealtimeServerGoalHandle< control_msgs::FollowJointTrajectoryAction > | RealtimeGoalHandle |
| typedef boost::shared_ptr< RealtimeGoalHandle > | RealtimeGoalHandlePtr |
| typedef trajectory_msgs::JointTrajectory::ConstPtr | JointTrajectoryConstPtr |
| typedef realtime_tools::RealtimePublisher< control_msgs::JointTrajectoryControllerState > | StatePublisher |
| typedef std::unique_ptr< StatePublisher > | StatePublisherPtr |
| typedef JointTrajectorySegment< SegmentImpl > | Segment |
| typedef std::vector< Segment > | TrajectoryPerJoint |
| typedef std::vector< TrajectoryPerJoint > | Trajectory |
| typedef std::shared_ptr< Trajectory > | TrajectoryPtr |
| typedef std::shared_ptr< TrajectoryPerJoint > | TrajectoryPerJointPtr |
| typedef realtime_tools::RealtimeBox< TrajectoryPtr > | TrajectoryBox |
| typedef Segment::Scalar | Scalar |
| typedef HardwareInterfaceAdapter< HardwareInterface, typename Segment::State > | HwIfaceAdapter |
| typedef HardwareInterface::ResourceHandleType | JointHandle |
| bool | verbose_ |
| Hard coded verbose flag to help in debugging. More... | |
| std::string | name_ |
| Controller name. More... | |
| std::vector< JointHandle > | joints_ |
| Handles to controlled joints. More... | |
| std::vector< bool > | angle_wraparound_ |
| Whether controlled joints wrap around or not. More... | |
| std::vector< std::string > | joint_names_ |
| Controlled joint names. More... | |
| SegmentTolerances< Scalar > | default_tolerances_ |
| Default trajectory segment tolerances. More... | |
| HwIfaceAdapter | hw_iface_adapter_ |
| Adapts desired trajectory state to HW interface. More... | |
| RealtimeGoalHandlePtr | rt_active_goal_ |
| Currently active action goal, if any. More... | |
| TrajectoryBox | curr_trajectory_box_ |
| TrajectoryPtr | hold_trajectory_ptr_ |
| Last hold trajectory values. More... | |
| Segment::State | current_state_ |
| Preallocated workspace variable. More... | |
| Segment::State | desired_state_ |
| Preallocated workspace variable. More... | |
| Segment::State | old_desired_state_ |
| Preallocated workspace variable. More... | |
| Segment::State | state_error_ |
| Preallocated workspace variable. More... | |
| Segment::State | desired_joint_state_ |
| Preallocated workspace variable. More... | |
| Segment::State | state_joint_error_ |
| Preallocated workspace variable. More... | |
| std::unique_ptr< TrajectoryBuilder< SegmentImpl > > | hold_traj_builder_ |
| realtime_tools::RealtimeBuffer< TimeData > | time_data_ |
| TimeData | old_time_data_ |
| ros::Duration | state_publisher_period_ |
| ros::Duration | action_monitor_period_ |
| Segment::Time | stop_trajectory_duration_ |
| Duration for stop ramp. If zero, the controller stops at the actual position. More... | |
| boost::dynamic_bitset | successful_joint_traj_ |
| bool | allow_partial_joints_goal_ |
| ros::NodeHandle | controller_nh_ |
| ros::Subscriber | trajectory_command_sub_ |
| ActionServerPtr | action_server_ |
| ros::ServiceServer | query_state_service_ |
| StatePublisherPtr | state_publisher_ |
| ros::Timer | goal_handle_timer_ |
| ros::Time | last_state_publish_time_ |
| void | starting (const ros::Time &time) |
| Holds the current position. More... | |
| void | stopping (const ros::Time &) |
| Cancels the active action goal, if any. More... | |
| void | update (const ros::Time &time, const ros::Duration &period) |
| virtual bool | updateTrajectoryCommand (const JointTrajectoryConstPtr &msg, RealtimeGoalHandlePtr gh, std::string *error_string=nullptr) |
| virtual void | trajectoryCommandCB (const JointTrajectoryConstPtr &msg) |
| virtual void | goalCB (GoalHandle gh) |
| virtual void | cancelCB (GoalHandle gh) |
| virtual void | preemptActiveGoal () |
| virtual bool | queryStateService (control_msgs::QueryTrajectoryState::Request &req, control_msgs::QueryTrajectoryState::Response &resp) |
| void | publishState (const ros::Time &time) |
| Publish current controller state at a throttled frequency. More... | |
| void | setHoldPosition (const ros::Time &time, RealtimeGoalHandlePtr gh=RealtimeGoalHandlePtr()) |
| Hold the current position. More... | |
| unsigned int | getNumberOfJoints () const |
| Returns the number of joints of the robot. More... | |
| void | updateStates (const ros::Time &sample_time, const Trajectory *const traj) |
| Updates the states by sampling the specified trajectory for each joint at the specified sampling time. More... | |
| static TrajectoryPtr | createHoldTrajectory (const unsigned int &number_of_joints) |
| Returns a trajectory consisting of joint trajectories with one pre-allocated segment. More... | |
| virtual void | updateFuncExtensionPoint (const Trajectory &curr_traj, const TimeData &time_data) |
| Allows derived classes to perform additional checks and to e.g. replace the newly calculated desired value before the hardware interface is finally updated. More... | |
| void | setActionFeedback () |
| Updates the pre-allocated feedback of the current active goal (if any) based on the current state values. More... | |
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 } |
| Public Attributes inherited from controller_interface::ControllerBase | |
| ControllerState | state_ |
| Protected Member Functions inherited from controller_interface::Controller< HardwareInterface > | |
| 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
template<class SegmentImpl, class HardwareInterface>
class joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >
Controller for executing joint-space trajectories on a group of joints.
- Note
- Non-developer documentation and usage instructions can be found in the package's ROS wiki page.
- Template Parameters
-
SegmentImpl Trajectory segment representation to use. The type must comply with the following structure: class FooSegment{public:// Required typestypedef Scalar Time;typedef PosVelAccState<Scalar> State;// Default constructorFooSegment();// Constructor from start and end states (boundary conditions)FooSegment(const Time& start_time,const State& start_state,const Time& end_time,const State& end_state);// Start and end states initializer (the guts of the above constructor)// May throw std::invalid_argument if parameters are invalidconst State& start_state,const Time& end_time,const State& end_state);// Sampler (realtime-safe)// Accesors (realtime-safe)Time startTime() const;Time endTime() const;unsigned int size() const;};HardwareInterface Controller hardware interface. Currently hardware_interface::PositionJointInterface,hardware_interface::VelocityJointInterface, andhardware_interface::EffortJointInterfaceare supported out-of-the-box.
Definition at line 128 of file joint_trajectory_controller.h.
Member Typedef Documentation
◆ ActionServer
|
protected |
Definition at line 161 of file joint_trajectory_controller.h.
◆ ActionServerPtr
|
protected |
Definition at line 162 of file joint_trajectory_controller.h.
◆ GoalHandle
|
protected |
Definition at line 163 of file joint_trajectory_controller.h.
◆ HwIfaceAdapter
|
protected |
Definition at line 178 of file joint_trajectory_controller.h.
◆ JointHandle
|
protected |
Definition at line 179 of file joint_trajectory_controller.h.
◆ JointTrajectoryConstPtr
|
protected |
Definition at line 166 of file joint_trajectory_controller.h.
◆ RealtimeGoalHandle
|
protected |
Definition at line 164 of file joint_trajectory_controller.h.
◆ RealtimeGoalHandlePtr
|
protected |
Definition at line 165 of file joint_trajectory_controller.h.
◆ Scalar
|
protected |
Definition at line 176 of file joint_trajectory_controller.h.
◆ Segment
|
protected |
Definition at line 170 of file joint_trajectory_controller.h.
◆ StatePublisher
|
protected |
Definition at line 167 of file joint_trajectory_controller.h.
◆ StatePublisherPtr
|
protected |
Definition at line 168 of file joint_trajectory_controller.h.
◆ Trajectory
|
protected |
Definition at line 172 of file joint_trajectory_controller.h.
◆ TrajectoryBox
|
protected |
Definition at line 175 of file joint_trajectory_controller.h.
◆ TrajectoryPerJoint
|
protected |
Definition at line 171 of file joint_trajectory_controller.h.
◆ TrajectoryPerJointPtr
|
protected |
Definition at line 174 of file joint_trajectory_controller.h.
◆ TrajectoryPtr
|
protected |
Definition at line 173 of file joint_trajectory_controller.h.
Constructor & Destructor Documentation
◆ JointTrajectoryController()
| joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::JointTrajectoryController |
Definition at line 190 of file joint_trajectory_controller_impl.h.
Member Function Documentation
◆ cancelCB()
|
protectedvirtual |
Definition at line 640 of file joint_trajectory_controller_impl.h.
◆ createHoldTrajectory()
|
staticprotected |
Returns a trajectory consisting of joint trajectories with one pre-allocated segment.
Definition at line 823 of file joint_trajectory_controller_impl.h.
◆ getNumberOfJoints()
|
inlineprotected |
Returns the number of joints of the robot.
Definition at line 759 of file joint_trajectory_controller_impl.h.
◆ goalCB()
|
protectedvirtual |
Definition at line 567 of file joint_trajectory_controller_impl.h.
◆ init()
| bool joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::init | ( | HardwareInterface * | hw, |
| ros::NodeHandle & | root_nh, | ||
| ros::NodeHandle & | controller_nh | ||
| ) |
Definition at line 205 of file joint_trajectory_controller_impl.h.
◆ preemptActiveGoal()
|
inlineprotectedvirtual |
Definition at line 175 of file joint_trajectory_controller_impl.h.
◆ publishState()
|
protected |
Publish current controller state at a throttled frequency.
- Note
- This method is realtime-safe and is meant to be called from update, as it shares data with it without any locking.
Definition at line 712 of file joint_trajectory_controller_impl.h.
◆ queryStateService()
|
protectedvirtual |
Definition at line 664 of file joint_trajectory_controller_impl.h.
◆ setActionFeedback()
|
private |
Updates the pre-allocated feedback of the current active goal (if any) based on the current state values.
- Note
- This function is NOT thread safe but intended to be used in the update-function.
Definition at line 798 of file joint_trajectory_controller_impl.h.
◆ setHoldPosition()
|
inlineprotected |
Hold the current position.
Substitutes the current trajectory with a single-segment one going from the current position and velocity to zero velocity.
- See also
- parameter stop_trajectory_duration
- Note
- This method is realtime-safe.
Definition at line 740 of file joint_trajectory_controller_impl.h.
◆ starting()
|
inlinevirtual |
Holds the current position.
Reimplemented from controller_interface::ControllerBase.
Definition at line 133 of file joint_trajectory_controller_impl.h.
◆ stopping()
|
inlinevirtual |
Cancels the active action goal, if any.
Reimplemented from controller_interface::ControllerBase.
Definition at line 160 of file joint_trajectory_controller_impl.h.
◆ trajectoryCommandCB()
|
inlineprotectedvirtual |
Definition at line 167 of file joint_trajectory_controller_impl.h.
◆ update()
|
virtual |
Implements controller_interface::ControllerBase.
Definition at line 347 of file joint_trajectory_controller_impl.h.
◆ updateFuncExtensionPoint()
|
inlineprivatevirtual |
Allows derived classes to perform additional checks and to e.g. replace the newly calculated desired value before the hardware interface is finally updated.
- Parameters
-
curr_traj The trajectory that is executed during the current update. time_data Updated time data.
Definition at line 752 of file joint_trajectory_controller_impl.h.
◆ updateStates()
|
protected |
Updates the states by sampling the specified trajectory for each joint at the specified sampling time.
The current state is updated based on the values transmitted by the corresponding JointHandles.
- Parameters
-
sample_time Time point at which the joint trajectories have to be sampled. traj Trajectory containing all joint trajectories currently under execution.
- Note
- This function is NOT thread safe but intended to be used in the update-function.
Definition at line 766 of file joint_trajectory_controller_impl.h.
◆ updateTrajectoryCommand()
|
protectedvirtual |
Definition at line 481 of file joint_trajectory_controller_impl.h.
Member Data Documentation
◆ action_monitor_period_
|
protected |
Definition at line 214 of file joint_trajectory_controller.h.
◆ action_server_
|
protected |
Definition at line 223 of file joint_trajectory_controller.h.
◆ allow_partial_joints_goal_
|
protected |
Definition at line 218 of file joint_trajectory_controller.h.
◆ angle_wraparound_
|
protected |
Whether controlled joints wrap around or not.
Definition at line 184 of file joint_trajectory_controller.h.
◆ controller_nh_
|
protected |
Definition at line 221 of file joint_trajectory_controller.h.
◆ curr_trajectory_box_
|
protected |
Thread-safe container with a smart pointer to trajectory currently being followed. Can be either a hold trajectory or a trajectory received from a ROS message.
We store the hold trajectory in a separate class member because the starting(time) method must be realtime-safe. The (single segment) hold trajectory is preallocated at initialization time and its size is kept unchanged.
Definition at line 198 of file joint_trajectory_controller.h.
◆ current_state_
|
protected |
Preallocated workspace variable.
Definition at line 201 of file joint_trajectory_controller.h.
◆ default_tolerances_
|
protected |
Default trajectory segment tolerances.
Definition at line 186 of file joint_trajectory_controller.h.
◆ desired_joint_state_
|
protected |
Preallocated workspace variable.
Definition at line 205 of file joint_trajectory_controller.h.
◆ desired_state_
|
protected |
Preallocated workspace variable.
Definition at line 202 of file joint_trajectory_controller.h.
◆ goal_handle_timer_
|
protected |
Definition at line 227 of file joint_trajectory_controller.h.
◆ hold_traj_builder_
|
protected |
Definition at line 208 of file joint_trajectory_controller.h.
◆ hold_trajectory_ptr_
|
protected |
Last hold trajectory values.
Definition at line 199 of file joint_trajectory_controller.h.
◆ hw_iface_adapter_
|
protected |
Adapts desired trajectory state to HW interface.
Definition at line 187 of file joint_trajectory_controller.h.
◆ joint_names_
|
protected |
Controlled joint names.
Definition at line 185 of file joint_trajectory_controller.h.
◆ joints_
|
protected |
Handles to controlled joints.
Definition at line 183 of file joint_trajectory_controller.h.
◆ last_state_publish_time_
|
protected |
Definition at line 228 of file joint_trajectory_controller.h.
◆ name_
|
protected |
Controller name.
Definition at line 182 of file joint_trajectory_controller.h.
◆ old_desired_state_
|
protected |
Preallocated workspace variable.
Definition at line 203 of file joint_trajectory_controller.h.
◆ old_time_data_
|
protected |
Definition at line 211 of file joint_trajectory_controller.h.
◆ query_state_service_
|
protected |
Definition at line 224 of file joint_trajectory_controller.h.
◆ rt_active_goal_
|
protected |
Currently active action goal, if any.
Definition at line 189 of file joint_trajectory_controller.h.
◆ state_error_
|
protected |
Preallocated workspace variable.
Definition at line 204 of file joint_trajectory_controller.h.
◆ state_joint_error_
|
protected |
Preallocated workspace variable.
Definition at line 206 of file joint_trajectory_controller.h.
◆ state_publisher_
|
protected |
Definition at line 225 of file joint_trajectory_controller.h.
◆ state_publisher_period_
|
protected |
Definition at line 213 of file joint_trajectory_controller.h.
◆ stop_trajectory_duration_
|
protected |
Duration for stop ramp. If zero, the controller stops at the actual position.
Definition at line 216 of file joint_trajectory_controller.h.
◆ successful_joint_traj_
|
protected |
Definition at line 217 of file joint_trajectory_controller.h.
◆ time_data_
|
protected |
Definition at line 210 of file joint_trajectory_controller.h.
◆ trajectory_command_sub_
|
protected |
Definition at line 222 of file joint_trajectory_controller.h.
◆ verbose_
|
protected |
Hard coded verbose flag to help in debugging.
Definition at line 181 of file joint_trajectory_controller.h.
The documentation for this class was generated from the following files: