CombinedRobotHW. More...

#include <combined_robot_hw_sim.h>

Inheritance diagram for gazebo_ros_control::CombinedRobotHWSim:

[legend]

Public Member Functions
	CombinedRobotHWSim ()

virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

virtual void	eStopActive (const bool active)
	Set the emergency stop state. More...

virtual bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)
	Initialize the simulated robot hardware. More...

virtual bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

virtual void	readSim (ros::Time time, ros::Duration period)
	Read state data from the simulated robot hardware. More...

virtual void	writeSim (ros::Time time, ros::Duration period)
	Write commands to the simulated robot hardware. More...

virtual	~CombinedRobotHWSim ()

Public Member Functions inherited from gazebo_ros_control::RobotHWSim
virtual	~RobotHWSim ()

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 bool	init (ros::NodeHandle &, ros::NodeHandle &)

virtual void	read (const ros::Time &, const ros::Duration &)

virtual void	read (const ros::Time &, const ros::Duration &)

virtual SwitchState	switchResult () const

virtual SwitchState	switchResult (const ControllerInfo &) const

virtual void	write (const ros::Time &, const ros::Duration &)

virtual void	write (const ros::Time &, const ros::Duration &)

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)

Protected Types
typedef pluginlib::ClassLoader< gazebo_ros_control::RobotHWSim >	class_loader_t

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 Member Functions
void	filterControllerList (const std::list< hardware_interface::ControllerInfo > &list, std::list< hardware_interface::ControllerInfo > &filtered_list, gazebo_ros_control::RobotHWSimSharedPtr robot_hw)
	Filters the start and stop lists so that they only contain the controllers and resources that correspond to the robot_hw interface manager. More...

Protected Attributes
class_loader_t	class_loader_

std::vector< gazebo_ros_control::RobotHWSimSharedPtr >	robot_hw_list_

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_

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

Detailed Description

CombinedRobotHW.

This class provides a way to combine RobotHW objects.

Definition at line 95 of file combined_robot_hw_sim.h.

Member Typedef Documentation

◆ class_loader_t

typedef pluginlib::ClassLoader<gazebo_ros_control::RobotHWSim> gazebo_ros_control::CombinedRobotHWSim::class_loader_t

protected

Definition at line 98 of file combined_robot_hw_sim.h.

Constructor & Destructor Documentation

◆ CombinedRobotHWSim()

gazebo_ros_control::CombinedRobotHWSim::CombinedRobotHWSim ( )

Definition at line 76 of file combined_robot_hw_sim.cpp.

◆ ~CombinedRobotHWSim()

virtual gazebo_ros_control::CombinedRobotHWSim::~CombinedRobotHWSim ( )

inlinevirtual

Definition at line 112 of file combined_robot_hw_sim.h.

Member Function Documentation

◆ doSwitch()

void gazebo_ros_control::CombinedRobotHWSim::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Perform (in realtime) all necessary hardware interface switches in order to start and stop the given controllers. Start and stop list are disjoint. The feasability was checked in prepareSwitch() beforehand.

Reimplemented from hardware_interface::RobotHW.

Definition at line 172 of file combined_robot_hw_sim.cpp.

◆ eStopActive()

virtual void gazebo_ros_control::CombinedRobotHWSim::eStopActive ( const bool active )

inlinevirtual

Set the emergency stop state.

Set the simulated robot's emergency stop state. The default implementation of this function does nothing.

Parameters

active true if the emergency stop is active, false if not.

Reimplemented from gazebo_ros_control::RobotHWSim.

Definition at line 167 of file combined_robot_hw_sim.h.

◆ filterControllerList()

void gazebo_ros_control::CombinedRobotHWSim::filterControllerList	(	const std::list< hardware_interface::ControllerInfo > &	list,
		std::list< hardware_interface::ControllerInfo > &	filtered_list,
		gazebo_ros_control::RobotHWSimSharedPtr	robot_hw
	)

protected

Filters the start and stop lists so that they only contain the controllers and resources that correspond to the robot_hw interface manager.

Definition at line 207 of file combined_robot_hw_sim.cpp.

◆ initSim()

bool gazebo_ros_control::CombinedRobotHWSim::initSim	(	const std::string &	robot_namespace,
		ros::NodeHandle	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)

virtual

Initialize the simulated robot hardware.

Parameters

robot_namespace	Robot namespace.
model_nh	Model node handle.
parent_model	Parent model.
urdf_model	URDF model.
transmissions	Transmissions.

Returns: true if the simulated robot hardware is initialized successfully, false if not.

Implements gazebo_ros_control::RobotHWSim.

Definition at line 80 of file combined_robot_hw_sim.cpp.

◆ prepareSwitch()

bool gazebo_ros_control::CombinedRobotHWSim::prepareSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW with regard to necessary hardware interface switches and prepare the switching. Start and stop list are disjoint. This handles the check and preparation, the actual switch is commited in doSwitch()

Reimplemented from hardware_interface::RobotHW.

Definition at line 154 of file combined_robot_hw_sim.cpp.

◆ readSim()

void gazebo_ros_control::CombinedRobotHWSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Read state data from the simulated robot hardware.

Read state data, such as joint positions and velocities, from the simulated robot hardware.

Parameters

time	Simulation time.
period	Time since the last simulation step.

Implements gazebo_ros_control::RobotHWSim.

Definition at line 189 of file combined_robot_hw_sim.cpp.

◆ writeSim()

void gazebo_ros_control::CombinedRobotHWSim::writeSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Write commands to the simulated robot hardware.

Write commands, such as joint position and velocity commands, to the simulated robot hardware.

Parameters

time	Simulation time.
period	Time since the last simulation step.

Implements gazebo_ros_control::RobotHWSim.

Definition at line 198 of file combined_robot_hw_sim.cpp.

Member Data Documentation

◆ class_loader_

class_loader_t gazebo_ros_control::CombinedRobotHWSim::class_loader_

protected

Definition at line 99 of file combined_robot_hw_sim.h.

◆ robot_hw_list_

std::vector<gazebo_ros_control::RobotHWSimSharedPtr> gazebo_ros_control::CombinedRobotHWSim::robot_hw_list_

protected

Definition at line 100 of file combined_robot_hw_sim.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ class_loader_t

Constructor & Destructor Documentation

◆ CombinedRobotHWSim()

◆ ~CombinedRobotHWSim()

Member Function Documentation

◆ doSwitch()

◆ eStopActive()

◆ filterControllerList()

◆ initSim()

◆ prepareSwitch()

◆ readSim()

◆ writeSim()

Member Data Documentation

◆ class_loader_

◆ robot_hw_list_