#include <hw_interface.h>

Inheritance diagram for examples::HWInterface:

Public Member Functions
	HWInterface ()

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

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

	~HWInterface ()

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 SwitchState	switchResult () const

virtual SwitchState	switchResult (const ControllerInfo &) const

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)

Private Types
using	SpeedScalingConfig = pass_through_controllers::SpeedScalingConfig

Private Member Functions
void	cancelCartesianInterpolation ()
	Dummy implementation for canceling a running Cartesian interpolation on the robot. More...

void	cancelJointInterpolation ()
	Dummy implementation for canceling a running joint interpolation on the robot. More...

void	dynamicReconfigureCallback (SpeedScalingConfig &config, uint32_t level)
	Use dynamic reconfigure to mimic the driver's speed scaling. More...

void	handleCartesianDone (const actionlib::SimpleClientGoalState &state, const cartesian_control_msgs::FollowCartesianTrajectoryResultConstPtr &result)

void	handleCartesianFeedback (const cartesian_control_msgs::FollowCartesianTrajectoryFeedbackConstPtr &feedback)

void	handleJointDone (const actionlib::SimpleClientGoalState &state, const control_msgs::FollowJointTrajectoryResultConstPtr &result)

void	handleJointFeedback (const control_msgs::FollowJointTrajectoryFeedbackConstPtr &feedback)

void	startCartesianInterpolation (const hardware_interface::CartesianTrajectory &trajectory)
	Dummy implementation for Cartesian interpolation on the robot. More...

void	startJointInterpolation (const hardware_interface::JointTrajectory &trajectory)
	Dummy implementation for joint interpolation on the robot. More...

Private Attributes
dynamic_reconfigure::Server< SpeedScalingConfig >::CallbackType	callback_type_

ros_controllers_cartesian::CartesianStateInterface	cart_state_interface_

hardware_interface::CartesianTrajectoryInterface	cart_traj_interface_

geometry_msgs::Accel	cartesian_accel_

std::unique_ptr< actionlib::SimpleActionClient< cartesian_control_msgs::FollowCartesianTrajectoryAction > >	cartesian_based_communication_

geometry_msgs::Accel	cartesian_jerk_

geometry_msgs::Pose	cartesian_pose_

geometry_msgs::Twist	cartesian_twist_

std::vector< double >	cmd_

std::vector< double >	eff_

std::string	frame_id_

hardware_interface::PositionJointInterface	jnt_pos_interface_

hardware_interface::JointStateInterface	jnt_state_interface_

hardware_interface::JointTrajectoryInterface	jnt_traj_interface_

std::unique_ptr< actionlib::SimpleActionClient< control_msgs::FollowJointTrajectoryAction > >	joint_based_communication_

std::vector< hardware_interface::JointHandle >	joint_handles_

std::vector< std::string >	joint_names_
	Actuated joints in order from base to tip. More...

std::vector< hardware_interface::JointStateHandle >	joint_state_handles_

std::vector< double >	pos_

geometry_msgs::Pose	pose_cmd_

ros_controllers_cartesian::PoseCommandInterface	pose_cmd_interface_

std::shared_ptr< dynamic_reconfigure::Server< SpeedScalingConfig > >	reconfig_server_

std::string	ref_frame_id_

double	speed_scaling_

scaled_controllers::SpeedScalingInterface	speedsc_interface_

std::vector< double >	vel_

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState { SwitchState::DONE, SwitchState::ONGOING, SwitchState::ERROR }

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

Definition at line 70 of file hw_interface.h.

Member Typedef Documentation

◆ SpeedScalingConfig

using examples::HWInterface::SpeedScalingConfig = pass_through_controllers::SpeedScalingConfig

private

Definition at line 139 of file hw_interface.h.

Constructor & Destructor Documentation

◆ HWInterface()

examples::HWInterface::HWInterface ( )

Definition at line 43 of file hw_interface.cpp.

◆ ~HWInterface()

examples::HWInterface::~HWInterface ( )

Definition at line 155 of file hw_interface.cpp.

Member Function Documentation

◆ cancelCartesianInterpolation()

void examples::HWInterface::cancelCartesianInterpolation ( )

private

Dummy implementation for canceling a running Cartesian interpolation on the robot.

Cancels the active goal of the CartesianTrajectoryController via preempt request.

Definition at line 195 of file hw_interface.cpp.

◆ cancelJointInterpolation()

void examples::HWInterface::cancelJointInterpolation ( )

private

Dummy implementation for canceling a running joint interpolation on the robot.

Cancels the active goal of the JointTrajectoryController via preempt request.

Definition at line 185 of file hw_interface.cpp.

◆ dynamicReconfigureCallback()

void examples::HWInterface::dynamicReconfigureCallback	(	SpeedScalingConfig &	config,
		uint32_t	level
	)

private

Use dynamic reconfigure to mimic the driver's speed scaling.

Note: The speed scaling interface used is not made for thread safety. In real driver code, that's not a problem, because robot drivers will operate in synchronous read-update-write cycles. Here, we use this interface under somewhat unrealistic "dynamic reconfigure" conditions for testing purposes.

Parameters

config	The speed scaling from 0 to 1.0
level	Not used

Definition at line 205 of file hw_interface.cpp.

◆ handleCartesianDone()

void examples::HWInterface::handleCartesianDone	(	const actionlib::SimpleClientGoalState &	state,
		const cartesian_control_msgs::FollowCartesianTrajectoryResultConstPtr &	result
	)

private

Definition at line 240 of file hw_interface.cpp.

◆ handleCartesianFeedback()

void examples::HWInterface::handleCartesianFeedback ( const cartesian_control_msgs::FollowCartesianTrajectoryFeedbackConstPtr & feedback )

private

Definition at line 234 of file hw_interface.cpp.

◆ handleJointDone()

void examples::HWInterface::handleJointDone	(	const actionlib::SimpleClientGoalState &	state,
		const control_msgs::FollowJointTrajectoryResultConstPtr &	result
	)

private

Definition at line 216 of file hw_interface.cpp.

◆ handleJointFeedback()

void examples::HWInterface::handleJointFeedback ( const control_msgs::FollowJointTrajectoryFeedbackConstPtr & feedback )

private

Definition at line 211 of file hw_interface.cpp.

◆ read()

void examples::HWInterface::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 159 of file hw_interface.cpp.

◆ startCartesianInterpolation()

void examples::HWInterface::startCartesianInterpolation ( const hardware_interface::CartesianTrajectory & trajectory )

private

Dummy implementation for Cartesian interpolation on the robot.

Passes this trajectory straight to a CartesianTrajectoryController to mimic external interpolation.

Parameters

trajectory The trajectory blob to forward to the vendor driver

Definition at line 177 of file hw_interface.cpp.

◆ startJointInterpolation()

void examples::HWInterface::startJointInterpolation ( const hardware_interface::JointTrajectory & trajectory )

private

Dummy implementation for joint interpolation on the robot.

Passes this trajectory straight to a JointTrajectoryController to mimic external interpolation.

Parameters

trajectory The trajectory blob to forward to the vendor driver

Definition at line 169 of file hw_interface.cpp.

◆ write()

void examples::HWInterface::write	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 164 of file hw_interface.cpp.

Member Data Documentation

◆ callback_type_

dynamic_reconfigure::Server<SpeedScalingConfig>::CallbackType examples::HWInterface::callback_type_

private

Definition at line 156 of file hw_interface.h.

◆ cart_state_interface_

ros_controllers_cartesian::CartesianStateInterface examples::HWInterface::cart_state_interface_

private

Definition at line 118 of file hw_interface.h.

◆ cart_traj_interface_

hardware_interface::CartesianTrajectoryInterface examples::HWInterface::cart_traj_interface_

private

Definition at line 123 of file hw_interface.h.

◆ cartesian_accel_

geometry_msgs::Accel examples::HWInterface::cartesian_accel_

private

Definition at line 161 of file hw_interface.h.

◆ cartesian_based_communication_

std::unique_ptr<actionlib::SimpleActionClient<cartesian_control_msgs::FollowCartesianTrajectoryAction> > examples::HWInterface::cartesian_based_communication_

private

Definition at line 176 of file hw_interface.h.

◆ cartesian_jerk_

geometry_msgs::Accel examples::HWInterface::cartesian_jerk_

private

Definition at line 162 of file hw_interface.h.

◆ cartesian_pose_

geometry_msgs::Pose examples::HWInterface::cartesian_pose_

private

Definition at line 159 of file hw_interface.h.

◆ cartesian_twist_

geometry_msgs::Twist examples::HWInterface::cartesian_twist_

private

Definition at line 160 of file hw_interface.h.

◆ cmd_

std::vector<double> examples::HWInterface::cmd_

private

Definition at line 127 of file hw_interface.h.

◆ eff_

std::vector<double> examples::HWInterface::eff_

private

Definition at line 130 of file hw_interface.h.

◆ frame_id_

std::string examples::HWInterface::frame_id_

private

Definition at line 136 of file hw_interface.h.

◆ jnt_pos_interface_

hardware_interface::PositionJointInterface examples::HWInterface::jnt_pos_interface_

private

Definition at line 121 of file hw_interface.h.

◆ jnt_state_interface_

hardware_interface::JointStateInterface examples::HWInterface::jnt_state_interface_

private

Definition at line 120 of file hw_interface.h.

◆ jnt_traj_interface_

hardware_interface::JointTrajectoryInterface examples::HWInterface::jnt_traj_interface_

private

Definition at line 122 of file hw_interface.h.

◆ joint_based_communication_

std::unique_ptr<actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> > examples::HWInterface::joint_based_communication_

private

Definition at line 169 of file hw_interface.h.

◆ joint_handles_

std::vector<hardware_interface::JointHandle> examples::HWInterface::joint_handles_

private

Definition at line 165 of file hw_interface.h.

◆ joint_names_

std::vector<std::string> examples::HWInterface::joint_names_

private

Actuated joints in order from base to tip.

Definition at line 115 of file hw_interface.h.

◆ joint_state_handles_

std::vector<hardware_interface::JointStateHandle> examples::HWInterface::joint_state_handles_

private

Definition at line 166 of file hw_interface.h.

◆ pos_

std::vector<double> examples::HWInterface::pos_

private

Definition at line 128 of file hw_interface.h.

◆ pose_cmd_

geometry_msgs::Pose examples::HWInterface::pose_cmd_

private

Definition at line 132 of file hw_interface.h.

◆ pose_cmd_interface_

ros_controllers_cartesian::PoseCommandInterface examples::HWInterface::pose_cmd_interface_

private

Definition at line 119 of file hw_interface.h.

◆ reconfig_server_

std::shared_ptr<dynamic_reconfigure::Server<SpeedScalingConfig> > examples::HWInterface::reconfig_server_

private

Definition at line 155 of file hw_interface.h.

◆ ref_frame_id_

std::string examples::HWInterface::ref_frame_id_

private

Definition at line 135 of file hw_interface.h.

◆ speed_scaling_

double examples::HWInterface::speed_scaling_

private

Definition at line 131 of file hw_interface.h.

◆ speedsc_interface_

scaled_controllers::SpeedScalingInterface examples::HWInterface::speedsc_interface_

private

Definition at line 124 of file hw_interface.h.

◆ vel_

std::vector<double> examples::HWInterface::vel_

private

Definition at line 129 of file hw_interface.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ SpeedScalingConfig

Constructor & Destructor Documentation

◆ HWInterface()

◆ ~HWInterface()

Member Function Documentation

◆ cancelCartesianInterpolation()

◆ cancelJointInterpolation()

◆ dynamicReconfigureCallback()

◆ handleCartesianDone()

◆ handleCartesianFeedback()

◆ handleJointDone()

◆ handleJointFeedback()

◆ read()

◆ startCartesianInterpolation()

◆ startJointInterpolation()

◆ write()

Member Data Documentation

◆ callback_type_

◆ cart_state_interface_

◆ cart_traj_interface_

◆ cartesian_accel_

◆ cartesian_based_communication_

◆ cartesian_jerk_

◆ cartesian_pose_

◆ cartesian_twist_

◆ cmd_

◆ eff_

◆ frame_id_

◆ jnt_pos_interface_

◆ jnt_state_interface_

◆ jnt_traj_interface_

◆ joint_based_communication_

◆ joint_handles_

◆ joint_names_

◆ joint_state_handles_

◆ pos_

◆ pose_cmd_

◆ pose_cmd_interface_

◆ reconfig_server_

◆ ref_frame_id_

◆ speed_scaling_

◆ speedsc_interface_

◆ vel_