A ROS controller for forwarding trajectories to a robot for interpolation. More...

#include <pass_through_controllers.h>

Inheritance diagram for trajectory_controllers::PassThroughController< TrajectoryInterface >:

[legend]

Classes
struct	ActionDuration
	Container for easy time management. More...

Public Types
using	Base = typename std::conditional< std::is_same< TrajectoryInterface, hardware_interface::JointTrajectoryInterface >::value, JointBase, CartesianBase >::type

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 Member Functions
void	executeCB (const typename Base::GoalConstPtr &goal)
	Callback method for new action goals. More...

bool	init (hardware_interface::RobotHW *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

	PassThroughController ()

void	preemptCB ()
	Callback method for preempt requests. More...

void	starting (const ros::Time &time)

void	stopping (const ros::Time &time)

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

Public Member Functions inherited from controller_interface::MultiInterfaceController< TrajectoryInterface, scaled_controllers::SpeedScalingInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

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

Private Member Functions
void	doneCB (const hardware_interface::ExecutionState &state)
	Will get called upon finishing the forwarded trajectory. More...

bool	isValid (const typename Base::GoalConstPtr &goal)
	Check if follow trajectory goals are valid. More...

bool	isValid (const typename Base::GoalConstPtr &goal)

bool	isValid (const typename Base::GoalConstPtr &goal)

void	monitorExecution (const typename Base::TrajectoryFeedback &feedback)
	Monitor the trajectory execution. More...

bool	withinTolerances (const TrajectoryPoint &error, const Tolerance &tolerances)

bool	withinTolerances (const typename Base::TrajectoryPoint &error, const typename Base::Tolerance &tolerances)
	Check if tolerances are met. More...

bool	withinTolerances (const typename Base::TrajectoryPoint &error, const typename Base::Tolerance &tolerances)

Private Attributes
ActionDuration	action_duration_

std::unique_ptr< actionlib::SimpleActionServer< typename Base::FollowTrajectoryAction > >	action_server_

std::atomic< bool >	done_

Base::Tolerance	goal_tolerances_

std::vector< std::string >	joint_names_

Base::Tolerance	path_tolerances_

std::unique_ptr< scaled_controllers::SpeedScalingHandle >	speed_scaling_

TrajectoryInterface *	trajectory_interface_

Additional Inherited Members
Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Protected Member Functions inherited from controller_interface::MultiInterfaceController< TrajectoryInterface, scaled_controllers::SpeedScalingInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< TrajectoryInterface, scaled_controllers::SpeedScalingInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Protected Attributes inherited from controller_interface::MultiInterfaceController< TrajectoryInterface, scaled_controllers::SpeedScalingInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

template<class TrajectoryInterface>
class trajectory_controllers::PassThroughController< TrajectoryInterface >

A ROS controller for forwarding trajectories to a robot for interpolation.

Instead of interpolating between the waypoints itself, this driver passes the complete trajectories down to the according HW interfaces, assuming that the driver's implementation makes use of whichever components are suitable for that specific robot.

This controller implements a simple action server that provides the common /follow_joint_trajectory or /follow_cartesian_trajectory action interface.

Users specify this controller in their .yaml files with:

# Your joint-based passthrough controller
forward_joint_trajectories:
    type: "pass_through_controllers/JointTrajectoryController"
    ...
 
 
# Your Cartesian passthrough controller
forward_cartesian_trajectories:
    type: "pass_through_controllers/CartesianTrajectoryController"
    ...

Template Parameters

TrajectoryInterface The type of trajectory interface used for this controller. Either hardware_interface::JointTrajectoryInterface or hardware_interface::CartesianTrajectoryInterface.

Definition at line 106 of file pass_through_controllers.h.

Member Typedef Documentation

◆ Base

template<class TrajectoryInterface >

using trajectory_controllers::PassThroughController< TrajectoryInterface >::Base = typename std::conditional<std::is_same<TrajectoryInterface, hardware_interface::JointTrajectoryInterface>::value, JointBase, CartesianBase>::type

Definition at line 125 of file pass_through_controllers.h.

Constructor & Destructor Documentation

◆ PassThroughController()

template<class TrajectoryInterface >

trajectory_controllers::PassThroughController< TrajectoryInterface >::PassThroughController ( )

inline

Definition at line 113 of file pass_through_controllers.h.

Member Function Documentation

◆ doneCB()

template<class TrajectoryInterface >

void trajectory_controllers::PassThroughController< TrajectoryInterface >::doneCB ( const hardware_interface::ExecutionState & state )

private

Will get called upon finishing the forwarded trajectory.

Definition at line 322 of file pass_through_controllers.hpp.

◆ executeCB()

template<class TrajectoryInterface >

void trajectory_controllers::PassThroughController< TrajectoryInterface >::executeCB ( const typename Base::GoalConstPtr & goal )

Callback method for new action goals.

This method calls the setGoal() method from the TrajectoryInterface. Implementers of the ROS-control HW can choose how the trajectory goal is forwarded to the robot for interpolation.

Things in detail:

New goals are only accepted when the controller is running
Switching the controller (stopping) cancels running goals
The goal's success is monitored in update()

Further info on how the simple action server works is given here.

Parameters

goal	The trajectory goal

Definition at line 152 of file pass_through_controllers.hpp.

◆ init()

template<class TrajectoryInterface >

bool trajectory_controllers::PassThroughController< TrajectoryInterface >::init	(	hardware_interface::RobotHW *	hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

virtual

Reimplemented from controller_interface::MultiInterfaceController< TrajectoryInterface, scaled_controllers::SpeedScalingInterface >.

Definition at line 41 of file pass_through_controllers.hpp.

◆ isValid() [1/3]

template<class TrajectoryInterface >

bool trajectory_controllers::PassThroughController< TrajectoryInterface >::isValid ( const typename Base::GoalConstPtr & goal )

private

Check if follow trajectory goals are valid.

Parameters

goal	The goal to check.

Returns: True if goal is valid, false otherwise

◆ isValid() [2/3]

bool trajectory_controllers::PassThroughController< hardware_interface::JointTrajectoryInterface >::isValid ( const typename Base::GoalConstPtr & goal )

private

Definition at line 297 of file pass_through_controllers.hpp.

◆ isValid() [3/3]

bool trajectory_controllers::PassThroughController< hardware_interface::CartesianTrajectoryInterface >::isValid ( const typename Base::GoalConstPtr & goal )

private

Definition at line 314 of file pass_through_controllers.hpp.

◆ monitorExecution()

template<class TrajectoryInterface >

void trajectory_controllers::PassThroughController< TrajectoryInterface >::monitorExecution ( const typename Base::TrajectoryFeedback & feedback )

private

Monitor the trajectory execution.

Parameters

feedback The feedback to use for evaluating tolerances

Definition at line 211 of file pass_through_controllers.hpp.

◆ preemptCB()

template<class TrajectoryInterface >

void trajectory_controllers::PassThroughController< TrajectoryInterface >::preemptCB

Callback method for preempt requests.

This method gets called on every preempt request that happens either directly upon a client request or indirectly when receiving a new goal while another is still active.

This method calls the setCancel() method from the TrajectoryInterface. The RobotHW should implement how this notification is handled by the robot vendor control.

Also check this info. on the simple action server's preemption policy:

Definition at line 201 of file pass_through_controllers.hpp.

◆ starting()

template<class TrajectoryInterface >

void trajectory_controllers::PassThroughController< TrajectoryInterface >::starting ( const ros::Time & time )

virtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 100 of file pass_through_controllers.hpp.

◆ stopping()

template<class TrajectoryInterface >

void trajectory_controllers::PassThroughController< TrajectoryInterface >::stopping ( const ros::Time & time )

virtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 106 of file pass_through_controllers.hpp.

◆ update()

template<class TrajectoryInterface >

void trajectory_controllers::PassThroughController< TrajectoryInterface >::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Implements controller_interface::ControllerBase.

Definition at line 122 of file pass_through_controllers.hpp.

◆ withinTolerances() [1/3]

bool trajectory_controllers::PassThroughController< hardware_interface::JointTrajectoryInterface >::withinTolerances	(	const TrajectoryPoint &	error,
		const Tolerance &	tolerances
	)

private

Definition at line 221 of file pass_through_controllers.hpp.

◆ withinTolerances() [2/3]

template<class TrajectoryInterface >

bool trajectory_controllers::PassThroughController< TrajectoryInterface >::withinTolerances	(	const typename Base::TrajectoryPoint &	error,
		const typename Base::Tolerance &	tolerances
	)

private

Check if tolerances are met.

Parameters

error	The error to check
tolerances	The tolerances to check against

Returns: False if any of the errors exceeds its tolerance, else true

◆ withinTolerances() [3/3]

bool trajectory_controllers::PassThroughController< hardware_interface::CartesianTrajectoryInterface >::withinTolerances	(	const typename Base::TrajectoryPoint &	error,
		const typename Base::Tolerance &	tolerances
	)

private

Definition at line 265 of file pass_through_controllers.hpp.

Member Data Documentation

◆ action_duration_

template<class TrajectoryInterface >

ActionDuration trajectory_controllers::PassThroughController< TrajectoryInterface >::action_duration_

private

Definition at line 218 of file pass_through_controllers.h.

◆ action_server_

template<class TrajectoryInterface >

std::unique_ptr<actionlib::SimpleActionServer<typename Base::FollowTrajectoryAction> > trajectory_controllers::PassThroughController< TrajectoryInterface >::action_server_

private

Resource managed by RobotHW

Definition at line 224 of file pass_through_controllers.h.

◆ done_

template<class TrajectoryInterface >

std::atomic<bool> trajectory_controllers::PassThroughController< TrajectoryInterface >::done_

private

Definition at line 217 of file pass_through_controllers.h.

◆ goal_tolerances_

template<class TrajectoryInterface >

Base::Tolerance trajectory_controllers::PassThroughController< TrajectoryInterface >::goal_tolerances_

private

Definition at line 222 of file pass_through_controllers.h.

◆ joint_names_

template<class TrajectoryInterface >

std::vector<std::string> trajectory_controllers::PassThroughController< TrajectoryInterface >::joint_names_

private

Definition at line 220 of file pass_through_controllers.h.

◆ path_tolerances_

template<class TrajectoryInterface >

Base::Tolerance trajectory_controllers::PassThroughController< TrajectoryInterface >::path_tolerances_

private

Definition at line 221 of file pass_through_controllers.h.

◆ speed_scaling_

template<class TrajectoryInterface >

std::unique_ptr<scaled_controllers::SpeedScalingHandle> trajectory_controllers::PassThroughController< TrajectoryInterface >::speed_scaling_

private

Definition at line 219 of file pass_through_controllers.h.

◆ trajectory_interface_

template<class TrajectoryInterface >

TrajectoryInterface* trajectory_controllers::PassThroughController< TrajectoryInterface >::trajectory_interface_

private

Definition at line 223 of file pass_through_controllers.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class TrajectoryInterface> class trajectory_controllers::PassThroughController< TrajectoryInterface >

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ PassThroughController()

Member Function Documentation

◆ doneCB()

◆ executeCB()

◆ init()

◆ isValid() [1/3]

◆ isValid() [2/3]

◆ isValid() [3/3]

◆ monitorExecution()

◆ preemptCB()

◆ starting()

◆ stopping()

◆ update()

◆ withinTolerances() [1/3]

◆ withinTolerances() [2/3]

◆ withinTolerances() [3/3]

Member Data Documentation

◆ action_duration_

◆ action_server_

◆ done_

◆ goal_tolerances_

◆ joint_names_

◆ path_tolerances_

◆ speed_scaling_

◆ trajectory_interface_

template<class TrajectoryInterface>
class trajectory_controllers::PassThroughController< TrajectoryInterface >