Class PicknikTwistController

Defined in File picknik_twist_controller.hpp

Inheritance Relationships

Base Type

public controller_interface::ControllerInterface

Class Documentation

class PicknikTwistController : public controller_interface::ControllerInterface

Public Functions

PICKNIK_TWIST_CONTROLLER_PUBLIC PicknikTwistController()

PICKNIK_TWIST_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

PICKNIK_TWIST_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

PICKNIK_TWIST_CONTROLLER_PUBLIC CallbackReturn on_init () override

PICKNIK_TWIST_CONTROLLER_PUBLIC CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

PICKNIK_TWIST_CONTROLLER_PUBLIC CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

PICKNIK_TWIST_CONTROLLER_PUBLIC CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

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

Protected Attributes

std::string joint_name_

std::vector<std::string> interface_names_

realtime_tools::RealtimeBuffer<std::shared_ptr<CmdType>> rt_command_ptr_

rclcpp::Subscription<CmdType>::SharedPtr twist_command_subscriber_

std::string logger_name_