Class ControllerManager

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class ControllerManager : public rclcpp::Node

Public Functions

CONTROLLER_MANAGER_PUBLIC ControllerManager(std::unique_ptr<hardware_interface::ResourceManager> resource_manager, std::shared_ptr<rclcpp::Executor> executor, const std::string &manager_node_name = "controller_manager", const std::string &node_namespace = "", const rclcpp::NodeOptions &options = get_cm_node_options())
CONTROLLER_MANAGER_PUBLIC ControllerManager(std::shared_ptr<rclcpp::Executor> executor, const std::string &manager_node_name = "controller_manager", const std::string &node_namespace = "", const rclcpp::NodeOptions &options = get_cm_node_options())
virtual CONTROLLER_MANAGER_PUBLIC ~ControllerManager() = default
CONTROLLER_MANAGER_PUBLIC void robot_description_callback (const std_msgs::msg::String &msg)
CONTROLLER_MANAGER_PUBLIC void init_resource_manager (const std::string &robot_description)
CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceBaseSharedPtr load_controller (const std::string &controller_name, const std::string &controller_type)
CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceBaseSharedPtr load_controller (const std::string &controller_name)

load_controller loads a controller by name, the type must be defined in the parameter server.

See also

Documentation in controller_manager_msgs/LoadController.srv

Parameters:

controller_name – [in] as a string.

Returns:

controller

CONTROLLER_MANAGER_PUBLIC controller_interface::return_type unload_controller (const std::string &controller_name)
CONTROLLER_MANAGER_PUBLIC std::vector< ControllerSpec > get_loaded_controllers () const
template<typename T, typename std::enable_if<std::is_convertible<T*, controller_interface::ControllerInterfaceBase*>::value, T>::type* = nullptr>
inline controller_interface::ControllerInterfaceBaseSharedPtr add_controller(std::shared_ptr<T> controller, const std::string &controller_name, const std::string &controller_type)
CONTROLLER_MANAGER_PUBLIC controller_interface::return_type configure_controller (const std::string &controller_name)

configure_controller Configure controller by name calling their “configure” method.

See also

Documentation in controller_manager_msgs/ConfigureController.srv

Parameters:

controller_name – [in] as a string.

Returns:

configure controller response

CONTROLLER_MANAGER_PUBLIC controller_interface::return_type switch_controller (const std::vector< std::string > &activate_controllers, const std::vector< std::string > &deactivate_controllers, int strictness, bool activate_asap=kWaitForAllResources, const rclcpp::Duration &timeout=rclcpp::Duration::from_nanoseconds(kInfiniteTimeout))

switch_controller Deactivates some controllers and activates others.

See also

Documentation in controller_manager_msgs/SwitchController.srv

Parameters:

  • activate_controllers – [in] is a list of controllers to activate.

  • deactivate_controllers – [in] is a list of controllers to deactivate.

  • set – [in] level of strictness (BEST_EFFORT or STRICT)

CONTROLLER_MANAGER_PUBLIC void read (const rclcpp::Time &time, const rclcpp::Duration &period)

Read values to state interfaces.

Read current values from hardware to state interfaces. The method called in the (real-time) control loop.

Parameters:

  • time – [in] The time at the start of this control loop iteration

  • period – [in] The measured period of the last control loop iteration

CONTROLLER_MANAGER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period)

Run update on controllers.

Call update of all controllers. The method called in the (real-time) control loop.

Parameters:

  • time – [in] The time at the start of this control loop iteration

  • period – [in] The measured period of the last control loop iteration

CONTROLLER_MANAGER_PUBLIC void write (const rclcpp::Time &time, const rclcpp::Duration &period)

Write values from command interfaces.

Write values from command interface into hardware. The method called in the (real-time) control loop.

Parameters:

  • time – [in] The time at the start of this control loop iteration

  • period – [in] The measured period of the last control loop iteration

CONTROLLER_MANAGER_PUBLIC unsigned int get_update_rate () const

Deterministic (real-time safe) callback group, e.g., update function.

Deterministic (real-time safe) callback group for the update function. Default behavior is read hardware, update controller and finally write new values to the hardware.

Public Static Attributes

static constexpr bool kWaitForAllResources = false
static constexpr auto kInfiniteTimeout = 0

Protected Functions

CONTROLLER_MANAGER_PUBLIC void init_services ()
CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceBaseSharedPtr add_controller_impl (const ControllerSpec &controller)
CONTROLLER_MANAGER_PUBLIC void manage_switch ()
CONTROLLER_MANAGER_PUBLIC void deactivate_controllers (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_deactivate)

Deactivate chosen controllers from real-time controller list.

Deactivate controllers with names controllers_to_deactivate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

Parameters:

  • rt_controller_list – [in] controllers in the real-time list.

  • controllers_to_deactivate – [in] names of the controller that have to be deactivated.

CONTROLLER_MANAGER_PUBLIC void switch_chained_mode (const std::vector< std::string > &chained_mode_switch_list, bool to_chained_mode)

Switch chained mode for all the controllers with respect to the following cases:

  • a preceding controller is getting activated –> switch controller to chained mode;

  • all preceding controllers are deactivated –> switch controller from chained mode.

Parameters:

  • chained_mode_switch_list – [in] list of controller to switch chained mode.

  • to_chained_mode – [in] flag if controller should be switched to or from chained mode.

CONTROLLER_MANAGER_PUBLIC void activate_controllers (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_activate)

Activate chosen controllers from real-time controller list.

Activate controllers with names controllers_to_activate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

Parameters:

  • rt_controller_list – [in] controllers in the real-time list.

  • controllers_to_activate – [in] names of the controller that have to be activated.

CONTROLLER_MANAGER_PUBLIC void activate_controllers_asap (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_activate)

Activate chosen controllers from real-time controller list.

Activate controllers with names controllers_to_activate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

NOTE: There is currently not difference to activate_controllers method. Check https://github.com/ros-controls/ros2_control/issues/263 for more information.

Parameters:

  • rt_controller_list – [in] controllers in the real-time list.

  • controllers_to_activate – [in] names of the controller that have to be activated.

CONTROLLER_MANAGER_PUBLIC void list_controllers_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllers::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllers::Response > response)
CONTROLLER_MANAGER_PUBLIC void list_hardware_interfaces_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Response > response)
CONTROLLER_MANAGER_PUBLIC void load_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::LoadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::LoadController::Response > response)
CONTROLLER_MANAGER_PUBLIC void configure_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Request > request, std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Response > response)
CONTROLLER_MANAGER_PUBLIC void reload_controller_libraries_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Request > request, std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Response > response)
CONTROLLER_MANAGER_PUBLIC void switch_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::SwitchController::Request > request, std::shared_ptr< controller_manager_msgs::srv::SwitchController::Response > response)
CONTROLLER_MANAGER_PUBLIC void unload_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::UnloadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::UnloadController::Response > response)
CONTROLLER_MANAGER_PUBLIC void list_controller_types_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Response > response)
CONTROLLER_MANAGER_PUBLIC void list_hardware_components_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListHardwareComponents::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListHardwareComponents::Response > response)
CONTROLLER_MANAGER_PUBLIC void set_hardware_component_state_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::SetHardwareComponentState::Request > request, std::shared_ptr< controller_manager_msgs::srv::SetHardwareComponentState::Response > response)

Protected Attributes

unsigned int update_loop_counter_ = 0
unsigned int update_rate_ = 100
std::vector<std::vector<std::string>> chained_controllers_configuration_
std::unique_ptr<hardware_interface::ResourceManager> resource_manager_