Template Class HardwareInterfaceAdapter

• Defined in File hardware_interface_adapter.hpp

Class Documentation

template<const char *HardwareInterface>
class HardwareInterfaceAdapter

Helper class to simplify integrating the GripperActionController with different hardware interfaces.

The GripperActionController outputs position while it is supposed to work with either position or effort commands.

Author

Sachin Chitta, Adolfo Rodriguez Tsouroukdissian

Public Functions

inline bool init(std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>>, std::shared_ptr<rclcpp_lifecycle::LifecycleNode>&)

inline void starting(const rclcpp::Time&)

inline void stopping(const rclcpp::Time&)

inline double updateCommand(double, double, double, double, double)