Hardware interface for a robot. More...

#include <generic_hw_interface.h>

Inheritance diagram for ros_control_boilerplate::GenericHWInterface:

[legend]

Public Member Functions
virtual bool	canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
	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. Start and stop list are disjoint. This is just a check, the actual switch is done in doSwitch() More...

virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
	Perform (in non-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 canSwitch() beforehand. More...

virtual void	enforceLimits (ros::Duration &period)=0

	GenericHWInterface (const ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
	Constructor. More...

virtual void	init ()
	Initialize the hardware interface. More...

std::string	printCommandHelper ()
	Helper for debugging a joint's command. More...

virtual void	printState ()
	Helper for debugging a joint's state. More...

std::string	printStateHelper ()

virtual void	read (const ros::Time &, const ros::Duration &period) override
	Read the state from the robot hardware. More...

virtual void	read (ros::Duration &elapsed_time)=0
	Read the state from the robot hardware. More...

virtual void	registerJointLimits (const hardware_interface::JointHandle &joint_handle_position, const hardware_interface::JointHandle &joint_handle_velocity, const hardware_interface::JointHandle &joint_handle_effort, std::size_t joint_id)
	Register the limits of the joint specified by joint_id and joint_handle. The limits are retrieved from the urdf_model. More...

virtual void	reset ()
	Set all members to default values. More...

virtual void	write (const ros::Time &, const ros::Duration &period) override
	Write the command to the robot hardware. More...

virtual void	write (ros::Duration &elapsed_time)=0
	Write the command to the robot hardware. More...

virtual	~GenericHWInterface ()
	Destructor. More...

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 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)

Protected Member Functions
virtual void	loadURDF (const ros::NodeHandle &nh, std::string param_name)
	Get the URDF XML from the parameter server. More...

Protected Attributes
joint_limits_interface::EffortJointSaturationInterface	eff_jnt_sat_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	eff_jnt_soft_limits_

hardware_interface::EffortJointInterface	effort_joint_interface_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

std::vector< double >	joint_effort_limits_

std::vector< std::string >	joint_names_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

std::vector< double >	joint_position_lower_limits_

std::vector< double >	joint_position_upper_limits_

hardware_interface::JointStateInterface	joint_state_interface_

std::vector< double >	joint_velocity_

std::vector< double >	joint_velocity_command_

std::vector< double >	joint_velocity_limits_

std::string	name_

ros::NodeHandle	nh_

std::size_t	num_joints_

joint_limits_interface::PositionJointSaturationInterface	pos_jnt_sat_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pos_jnt_soft_limits_

hardware_interface::PositionJointInterface	position_joint_interface_

urdf::Model *	urdf_model_

bool	use_rosparam_joint_limits_

bool	use_soft_limits_if_available_

joint_limits_interface::VelocityJointSaturationInterface	vel_jnt_sat_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vel_jnt_soft_limits_

hardware_interface::VelocityJointInterface	velocity_joint_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_

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

Detailed Description

Hardware interface for a robot.

Definition at line 92 of file generic_hw_interface.h.

Constructor & Destructor Documentation

◆ GenericHWInterface()

ros_control_boilerplate::GenericHWInterface::GenericHWInterface	(	const ros::NodeHandle &	nh,
		urdf::Model *	urdf_model = `NULL`
	)

Constructor.

Parameters

nh	- Node handle for topics.
urdf	- optional pointer to a parsed robot model

Definition at line 79 of file generic_hw_interface.cpp.

◆ ~GenericHWInterface()

virtual ros_control_boilerplate::GenericHWInterface::~GenericHWInterface ( )

inlinevirtual

Destructor.

Definition at line 135 of file generic_hw_interface.h.

Member Function Documentation

◆ canSwitch()

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

inlinevirtual

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. Start and stop list are disjoint. This is just a check, the actual switch is done in doSwitch()

Definition at line 183 of file generic_hw_interface.h.

◆ doSwitch()

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

inlinevirtual

Perform (in non-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 canSwitch() beforehand.

Reimplemented from hardware_interface::RobotHW.

Definition at line 194 of file generic_hw_interface.h.

◆ enforceLimits()

virtual void ros_control_boilerplate::GenericHWInterface::enforceLimits ( ros::Duration & period )

pure virtual

\breif Enforce limits for all values before writing

Implemented in ros_control_boilerplate::SimHWInterface, and rrbot_control::RRBotHWInterface.

◆ init()

void ros_control_boilerplate::GenericHWInterface::init ( )

virtual

Initialize the hardware interface.

Reimplemented in ros_control_boilerplate::SimHWInterface.

Definition at line 96 of file generic_hw_interface.cpp.

◆ loadURDF()

void ros_control_boilerplate::GenericHWInterface::loadURDF	(	const ros::NodeHandle &	nh,
		std::string	param_name
	)

protectedvirtual

Get the URDF XML from the parameter server.

Definition at line 332 of file generic_hw_interface.cpp.

◆ printCommandHelper()

std::string ros_control_boilerplate::GenericHWInterface::printCommandHelper ( )

Helper for debugging a joint's command.

Definition at line 318 of file generic_hw_interface.cpp.

◆ printState()

void ros_control_boilerplate::GenericHWInterface::printState ( )

virtual

Helper for debugging a joint's state.

Definition at line 297 of file generic_hw_interface.cpp.

◆ printStateHelper()

std::string ros_control_boilerplate::GenericHWInterface::printStateHelper ( )

Definition at line 304 of file generic_hw_interface.cpp.

◆ read() [1/2]

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

inlineoverridevirtual

Read the state from the robot hardware.

Note: This delegates RobotHW::read() calls to read()

Parameters

time	The current time, currently unused
period	The time passed since the last call

Reimplemented from hardware_interface::RobotHW.

Definition at line 152 of file generic_hw_interface.h.

◆ read() [2/2]

virtual void ros_control_boilerplate::GenericHWInterface::read ( ros::Duration & elapsed_time )

pure virtual

Read the state from the robot hardware.

Implemented in ros_control_boilerplate::SimHWInterface, and rrbot_control::RRBotHWInterface.

◆ registerJointLimits()

void ros_control_boilerplate::GenericHWInterface::registerJointLimits	(	const hardware_interface::JointHandle &	joint_handle_position,
		const hardware_interface::JointHandle &	joint_handle_velocity,
		const hardware_interface::JointHandle &	joint_handle_effort,
		std::size_t	joint_id
	)

virtual

Register the limits of the joint specified by joint_id and joint_handle. The limits are retrieved from the urdf_model.

Returns: the joint's type, lower position limit, upper position limit, and effort limit.

Definition at line 151 of file generic_hw_interface.cpp.

◆ reset()

void ros_control_boilerplate::GenericHWInterface::reset ( )

virtual

Set all members to default values.

Definition at line 290 of file generic_hw_interface.cpp.

◆ write() [1/2]

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

inlineoverridevirtual

Write the command to the robot hardware.

Note: This delegates RobotHW::write() calls to write()

Parameters

time	The current time, currently unused
period	The time passed since the last call

Reimplemented from hardware_interface::RobotHW.

Definition at line 168 of file generic_hw_interface.h.

◆ write() [2/2]

virtual void ros_control_boilerplate::GenericHWInterface::write ( ros::Duration & elapsed_time )

pure virtual

Write the command to the robot hardware.

Implemented in ros_control_boilerplate::SimHWInterface, and rrbot_control::RRBotHWInterface.

Member Data Documentation

◆ eff_jnt_sat_interface_

joint_limits_interface::EffortJointSaturationInterface ros_control_boilerplate::GenericHWInterface::eff_jnt_sat_interface_

protected

Definition at line 238 of file generic_hw_interface.h.

◆ eff_jnt_soft_limits_

joint_limits_interface::EffortJointSoftLimitsInterface ros_control_boilerplate::GenericHWInterface::eff_jnt_soft_limits_

protected

Definition at line 243 of file generic_hw_interface.h.

◆ effort_joint_interface_

hardware_interface::EffortJointInterface ros_control_boilerplate::GenericHWInterface::effort_joint_interface_

protected

Definition at line 233 of file generic_hw_interface.h.

◆ joint_effort_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_effort_

protected

Definition at line 257 of file generic_hw_interface.h.

◆ joint_effort_command_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_effort_command_

protected

Definition at line 262 of file generic_hw_interface.h.

◆ joint_effort_limits_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_effort_limits_

protected

Definition at line 268 of file generic_hw_interface.h.

◆ joint_names_

std::vector<std::string> ros_control_boilerplate::GenericHWInterface::joint_names_

protected

Definition at line 246 of file generic_hw_interface.h.

◆ joint_position_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_position_

protected

Definition at line 255 of file generic_hw_interface.h.

◆ joint_position_command_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_position_command_

protected

Definition at line 260 of file generic_hw_interface.h.

◆ joint_position_lower_limits_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_position_lower_limits_

protected

Definition at line 265 of file generic_hw_interface.h.

◆ joint_position_upper_limits_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_position_upper_limits_

protected

Definition at line 266 of file generic_hw_interface.h.

◆ joint_state_interface_

hardware_interface::JointStateInterface ros_control_boilerplate::GenericHWInterface::joint_state_interface_

protected

Definition at line 230 of file generic_hw_interface.h.

◆ joint_velocity_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_velocity_

protected

Definition at line 256 of file generic_hw_interface.h.

◆ joint_velocity_command_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_velocity_command_

protected

Definition at line 261 of file generic_hw_interface.h.

◆ joint_velocity_limits_

std::vector<double> ros_control_boilerplate::GenericHWInterface::joint_velocity_limits_

protected

Definition at line 267 of file generic_hw_interface.h.

◆ name_

std::string ros_control_boilerplate::GenericHWInterface::name_

protected

Definition at line 224 of file generic_hw_interface.h.

◆ nh_

ros::NodeHandle ros_control_boilerplate::GenericHWInterface::nh_

protected

Definition at line 227 of file generic_hw_interface.h.

◆ num_joints_

std::size_t ros_control_boilerplate::GenericHWInterface::num_joints_

protected

Definition at line 247 of file generic_hw_interface.h.

◆ pos_jnt_sat_interface_

joint_limits_interface::PositionJointSaturationInterface ros_control_boilerplate::GenericHWInterface::pos_jnt_sat_interface_

protected

Definition at line 236 of file generic_hw_interface.h.

◆ pos_jnt_soft_limits_

joint_limits_interface::PositionJointSoftLimitsInterface ros_control_boilerplate::GenericHWInterface::pos_jnt_soft_limits_

protected

Definition at line 241 of file generic_hw_interface.h.

◆ position_joint_interface_

hardware_interface::PositionJointInterface ros_control_boilerplate::GenericHWInterface::position_joint_interface_

protected

Definition at line 231 of file generic_hw_interface.h.

◆ urdf_model_

urdf::Model* ros_control_boilerplate::GenericHWInterface::urdf_model_

protected

Definition at line 248 of file generic_hw_interface.h.

◆ use_rosparam_joint_limits_

bool ros_control_boilerplate::GenericHWInterface::use_rosparam_joint_limits_

protected

Definition at line 251 of file generic_hw_interface.h.

◆ use_soft_limits_if_available_

bool ros_control_boilerplate::GenericHWInterface::use_soft_limits_if_available_

protected

Definition at line 252 of file generic_hw_interface.h.

◆ vel_jnt_sat_interface_

joint_limits_interface::VelocityJointSaturationInterface ros_control_boilerplate::GenericHWInterface::vel_jnt_sat_interface_

protected

Definition at line 237 of file generic_hw_interface.h.

◆ vel_jnt_soft_limits_

joint_limits_interface::VelocityJointSoftLimitsInterface ros_control_boilerplate::GenericHWInterface::vel_jnt_soft_limits_

protected

Definition at line 242 of file generic_hw_interface.h.

◆ velocity_joint_interface_

hardware_interface::VelocityJointInterface ros_control_boilerplate::GenericHWInterface::velocity_joint_interface_

protected

Definition at line 232 of file generic_hw_interface.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GenericHWInterface()

◆ ~GenericHWInterface()

Member Function Documentation

◆ canSwitch()

◆ doSwitch()

◆ enforceLimits()

◆ init()

◆ loadURDF()

◆ printCommandHelper()

◆ printState()

◆ printStateHelper()

◆ read() [1/2]

◆ read() [2/2]

◆ registerJointLimits()

◆ reset()

◆ write() [1/2]

◆ write() [2/2]

Member Data Documentation

◆ eff_jnt_sat_interface_

◆ eff_jnt_soft_limits_

◆ effort_joint_interface_

◆ joint_effort_

◆ joint_effort_command_

◆ joint_effort_limits_

◆ joint_names_

◆ joint_position_

◆ joint_position_command_

◆ joint_position_lower_limits_

◆ joint_position_upper_limits_

◆ joint_state_interface_

◆ joint_velocity_

◆ joint_velocity_command_

◆ joint_velocity_limits_

◆ name_

◆ nh_

◆ num_joints_

◆ pos_jnt_sat_interface_

◆ pos_jnt_soft_limits_

◆ position_joint_interface_

◆ urdf_model_

◆ use_rosparam_joint_limits_

◆ use_soft_limits_if_available_

◆ vel_jnt_sat_interface_

◆ vel_jnt_soft_limits_

◆ velocity_joint_interface_