Class AdmittanceController
Defined in File admittance_controller.hpp
Inheritance Relationships
Base Type
public controller_interface::ChainableControllerInterface
Class Documentation
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class AdmittanceController : public controller_interface::ChainableControllerInterface
Public Functions
- ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init () override
- ADMITTANCE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override
Export configuration of required state interfaces.
Allowed types of state interfaces are hardware_interface::POSITION, hardware_interface::VELOCITY, hardware_interface::ACCELERATION.
- ADMITTANCE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override
Export configuration of required state interfaces.
Allowed types of state interfaces are hardware_interface::POSITION, hardware_interface::VELOCITY, hardware_interface::ACCELERATION.
- ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override
- ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override
- ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override
- ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override
- ADMITTANCE_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_error (const rclcpp_lifecycle::State &previous_state) override
- ADMITTANCE_CONTROLLER_PUBLIC controller_interface::return_type update_and_write_commands (const rclcpp::Time &time, const rclcpp::Duration &period) override
Protected Types
Protected Functions
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std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override
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controller_interface::return_type update_reference_from_subscribers(const rclcpp::Time &time, const rclcpp::Duration &period) override
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void read_state_from_hardware(trajectory_msgs::msg::JointTrajectoryPoint &state_current, geometry_msgs::msg::Wrench &ft_values)
Read values from hardware interfaces and set corresponding fields of state_current and ft_values.
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void read_state_reference_interfaces(trajectory_msgs::msg::JointTrajectoryPoint &state)
Set fields of state_reference with values from controllers exported position and velocity references.
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void write_state_to_hardware(const trajectory_msgs::msg::JointTrajectoryPoint &state_command)
Write values from state_command to claimed hardware interfaces.
Protected Attributes
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size_t num_joints_ = 0
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std::vector<std::string> command_joint_names_
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InterfaceReferences<hardware_interface::LoanedCommandInterface> joint_command_interface_
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InterfaceReferences<hardware_interface::LoanedStateInterface> joint_state_interface_
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bool has_position_state_interface_ = false
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bool has_velocity_state_interface_ = false
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bool has_acceleration_state_interface_ = false
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bool has_position_command_interface_ = false
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bool has_velocity_command_interface_ = false
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bool has_acceleration_command_interface_ = false
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bool has_effort_command_interface_ = false
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const std::vector<std::string> allowed_interface_types_ = {hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY, hardware_interface::HW_IF_ACCELERATION}
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const std::vector<std::string> allowed_reference_interfaces_types_ = {hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY}
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std::vector<std::reference_wrapper<double>> position_reference_
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std::vector<std::reference_wrapper<double>> velocity_reference_
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std::unique_ptr<admittance_controller::AdmittanceRule> admittance_
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std::unique_ptr<semantic_components::ForceTorqueSensor> force_torque_sensor_
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rclcpp::Subscription<trajectory_msgs::msg::JointTrajectoryPoint>::SharedPtr input_joint_command_subscriber_
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rclcpp::Subscription<geometry_msgs::msg::WrenchStamped>::SharedPtr input_wrench_command_subscriber_
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rclcpp::Publisher<control_msgs::msg::AdmittanceControllerState>::SharedPtr s_publisher_
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std::shared_ptr<admittance_controller::ParamListener> parameter_handler_
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std::shared_ptr<trajectory_msgs::msg::JointTrajectoryPoint> joint_command_msg_
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realtime_tools::RealtimeBuffer<std::shared_ptr<trajectory_msgs::msg::JointTrajectoryPoint>> input_joint_command_
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realtime_tools::RealtimeBuffer<geometry_msgs::msg::WrenchStamped> input_wrench_command_
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std::unique_ptr<realtime_tools::RealtimePublisher<ControllerStateMsg>> state_publisher_
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trajectory_msgs::msg::JointTrajectoryPoint last_commanded_
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trajectory_msgs::msg::JointTrajectoryPoint last_reference_
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trajectory_msgs::msg::JointTrajectoryPoint reference_
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trajectory_msgs::msg::JointTrajectoryPoint joint_state_
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trajectory_msgs::msg::JointTrajectoryPoint reference_admittance_
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geometry_msgs::msg::Wrench ft_values_