rm_hw::RmRobotHWLoop Class Reference

#include <control_loop.h>

Public Member Functions
	RmRobotHWLoop (ros::NodeHandle &nh, std::shared_ptr< RmRobotHW > hardware_interface)
	Create controller manager. Load loop frequency. Start control loop which call rm_hw::RmRobotHWLoop::update() in a frequency. More...
void	update ()
	Timed method that reads current hardware's state, runs the controller code once and sends the new commands to the hardware. More...
	~RmRobotHWLoop ()

Private Attributes
std::shared_ptr< controller_manager::ControllerManager >	controller_manager_
double	cycle_time_error_threshold_ {}
ros::Duration	elapsed_time_
std::shared_ptr< RmRobotHW >	hardware_interface_
clock::time_point	last_time_
double	loop_hz_ {}
std::atomic_bool	loop_running_
std::thread	loop_thread_
ros::NodeHandle	nh_

Detailed Description

Definition at line 84 of file control_loop.h.

Constructor & Destructor Documentation

RmRobotHWLoop()

rm_hw::RmRobotHWLoop::RmRobotHWLoop	(	ros::NodeHandle &	nh,
		std::shared_ptr< RmRobotHW >	hardware_interface
	)

Create controller manager. Load loop frequency. Start control loop which call rm_hw::RmRobotHWLoop::update() in a frequency.

Parameters

nh	Node-handle of a ROS node.
hardware_interface	A pointer which point to hardware_interface.

Definition at line 72 of file control_loop.cpp.

~RmRobotHWLoop()

rm_hw::RmRobotHWLoop::~RmRobotHWLoop

(

)

Definition at line 149 of file control_loop.cpp.

Member Function Documentation

update()

void rm_hw::RmRobotHWLoop::update

(

)

Timed method that reads current hardware's state, runs the controller code once and sends the new commands to the hardware.

Timed method that reads current hardware's state, runs the controller code once and sends the new commands to the hardware.

Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing.

Definition at line 115 of file control_loop.cpp.

Member Data Documentation

controller_manager_

std::shared_ptr<controller_manager::ControllerManager> rm_hw::RmRobotHWLoop::controller_manager_

private

ROS Controller Manager and Runner

This class advertises a ROS interface for loading, unloading, starting, and stopping ros_control-based controllers. It also serializes execution of all running controllers in update.

Definition at line 128 of file control_loop.h.

cycle_time_error_threshold_

double rm_hw::RmRobotHWLoop::cycle_time_error_threshold_ {}

private

Definition at line 113 of file control_loop.h.

elapsed_time_

ros::Duration rm_hw::RmRobotHWLoop::elapsed_time_

private

Definition at line 119 of file control_loop.h.

hardware_interface_

std::shared_ptr<RmRobotHW> rm_hw::RmRobotHWLoop::hardware_interface_

private

Definition at line 131 of file control_loop.h.

last_time_

clock::time_point rm_hw::RmRobotHWLoop::last_time_

private

Definition at line 120 of file control_loop.h.

loop_hz_

double rm_hw::RmRobotHWLoop::loop_hz_ {}

private

Definition at line 118 of file control_loop.h.

loop_running_

std::atomic_bool rm_hw::RmRobotHWLoop::loop_running_

private

Definition at line 117 of file control_loop.h.

loop_thread_

std::thread rm_hw::RmRobotHWLoop::loop_thread_

private

Definition at line 116 of file control_loop.h.

nh_

ros::NodeHandle rm_hw::RmRobotHWLoop::nh_

private

Definition at line 110 of file control_loop.h.

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

• control_loop.h
• control_loop.cpp