#include <rm_robot_hw_sim.h>

Inheritance diagram for rm_gazebo::RmRobotHWSim:

[legend]

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

void	readSim (ros::Time time, ros::Duration period) override

Public Member Functions inherited from gazebo_ros_control::DefaultRobotHWSim
virtual void	eStopActive (const bool active)

virtual void	writeSim (ros::Time time, ros::Duration period)

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 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 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)

Private Member Functions
void	parseImu (XmlRpc::XmlRpcValue &imu_datas, const gazebo::physics::ModelPtr &parent_model)

Static Private Member Functions
static bool	switchImuStatus (std_srvs::TriggerRequest &req, std_srvs::TriggerResponse &res)

Private Attributes
std::list< ImuData >	imu_datas_

hardware_interface::ImuSensorInterface	imu_sensor_interface_

rm_control::RmImuSensorInterface	rm_imu_sensor_interface_

rm_control::RobotStateInterface	robot_state_interface_

ros::ServiceServer	switch_imu_service_

gazebo::physics::WorldPtr	world_

Static Private Attributes
static bool	disable_imu_ = false

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

Protected Types inherited from gazebo_ros_control::DefaultRobotHWSim
enum	ControlMethod

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 inherited from gazebo_ros_control::DefaultRobotHWSim
void	registerJointLimits (const std::string &joint_name, const hardware_interface::JointHandle &joint_handle, const ControlMethod ctrl_method, const ros::NodeHandle &joint_limit_nh, const urdf::Model const urdf_model, int const joint_type, double const lower_limit, double const upper_limit, double *const effort_limit)

Protected Attributes inherited from gazebo_ros_control::DefaultRobotHWSim
bool	e_stop_active_

	EFFORT

hardware_interface::EffortJointInterface	ej_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	ej_limits_interface_

joint_limits_interface::EffortJointSaturationInterface	ej_sat_interface_

std::vector< ControlMethod >	joint_control_methods_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

std::vector< double >	joint_effort_limits_

std::vector< double >	joint_lower_limits_

std::vector< std::string >	joint_names_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

std::vector< int >	joint_types_

std::vector< double >	joint_upper_limits_

std::vector< double >	joint_velocity_

std::vector< double >	joint_velocity_command_

hardware_interface::JointStateInterface	js_interface_

bool	last_e_stop_active_

std::vector< double >	last_joint_position_command_

unsigned int	n_dof_

std::string	physics_type_

std::vector< control_toolbox::Pid >	pid_controllers_

hardware_interface::PositionJointInterface	pj_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pj_limits_interface_

joint_limits_interface::PositionJointSaturationInterface	pj_sat_interface_

	POSITION

	POSITION_PID

std::vector< gazebo::physics::JointPtr >	sim_joints_

	VELOCITY

	VELOCITY_PID

hardware_interface::VelocityJointInterface	vj_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vj_limits_interface_

joint_limits_interface::VelocityJointSaturationInterface	vj_sat_interface_

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 90 of file rm_robot_hw_sim.h.

Member Function Documentation

◆ initSim()

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

overridevirtual

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 75 of file rm_robot_hw_sim.cpp.

◆ parseImu()

void rm_gazebo::RmRobotHWSim::parseImu	(	XmlRpc::XmlRpcValue &	imu_datas,
		const gazebo::physics::ModelPtr &	parent_model
	)

private

Definition at line 128 of file rm_robot_hw_sim.cpp.

◆ readSim()

void rm_gazebo::RmRobotHWSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)

overridevirtual

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 94 of file rm_robot_hw_sim.cpp.

◆ switchImuStatus()

static bool rm_gazebo::RmRobotHWSim::switchImuStatus	(	std_srvs::TriggerRequest &	req,
		std_srvs::TriggerResponse &	res
	)

inlinestaticprivate

Definition at line 101 of file rm_robot_hw_sim.h.

Member Data Documentation

◆ disable_imu_

bool rm_gazebo::RmRobotHWSim::disable_imu_ = false

staticprivate

Definition at line 115 of file rm_robot_hw_sim.h.

◆ imu_datas_

std::list<ImuData> rm_gazebo::RmRobotHWSim::imu_datas_

private

Definition at line 113 of file rm_robot_hw_sim.h.

◆ imu_sensor_interface_

hardware_interface::ImuSensorInterface rm_gazebo::RmRobotHWSim::imu_sensor_interface_

private

Definition at line 110 of file rm_robot_hw_sim.h.

◆ rm_imu_sensor_interface_

rm_control::RmImuSensorInterface rm_gazebo::RmRobotHWSim::rm_imu_sensor_interface_

private

Definition at line 111 of file rm_robot_hw_sim.h.

◆ robot_state_interface_

rm_control::RobotStateInterface rm_gazebo::RmRobotHWSim::robot_state_interface_

private

Definition at line 109 of file rm_robot_hw_sim.h.

◆ switch_imu_service_

ros::ServiceServer rm_gazebo::RmRobotHWSim::switch_imu_service_

private

Definition at line 114 of file rm_robot_hw_sim.h.

◆ world_

gazebo::physics::WorldPtr rm_gazebo::RmRobotHWSim::world_

private

Definition at line 112 of file rm_robot_hw_sim.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ initSim()

◆ parseImu()

◆ readSim()

◆ switchImuStatus()

Member Data Documentation

◆ disable_imu_

◆ imu_datas_

◆ imu_sensor_interface_

◆ rm_imu_sensor_interface_

◆ robot_state_interface_

◆ switch_imu_service_

◆ world_