Class PassthroughController

Inheritance Relationships

Base Type

  • public controller_interface::ChainableControllerInterface

Class Documentation

class PassthroughController : public controller_interface::ChainableControllerInterface

Public Functions

controller_interface::CallbackReturn on_init() override
controller_interface::InterfaceConfiguration command_interface_configuration() const override
controller_interface::InterfaceConfiguration state_interface_configuration() const override
controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override
bool on_set_chained_mode(bool chained_mode) override
controller_interface::return_type update_and_write_commands(const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Functions

std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override
controller_interface::return_type update_reference_from_subscribers() final

ChainableControllerInterface::update_reference_from_subscribers.

Protected Attributes

std::shared_ptr<passthrough_controller::ParamListener> param_listener_
passthrough_controller::Params params_
std::vector<std::string> reference_interface_names_
std::vector<std::string> command_interface_names_
std::vector<std::reference_wrapper<hardware_interface::LoanedCommandInterface>> ordered_command_interfaces_