Struct Cia402Data

Defined in File cia402_data.hpp

Struct Documentation

struct Cia402Data

Public Functions

inline bool init_data(hardware_interface::ComponentInfo &joint, std::string device_dump)

inline void export_state_interface(std::vector<hardware_interface::StateInterface> &state_interfaces)

inline void export_command_interface(std::vector<hardware_interface::CommandInterface> &command_interfaces)

inline void read_state()

inline void write_target()

inline bool perform_switch()

inline bool check_id(uint8_t id)

Public Members

uint8_t node_id

std::string joint_name

std::shared_ptr<ros2_canopen::Cia402Driver> driver

std::map<std::string, ros2_canopen::MotorBase::OperationMode> command_interface_to_operation_mode

std::vector<std::string> interfaces

std::vector<std::string> interfaces_to_start

std::vector<std::string> interfaces_to_running

std::vector<std::string> interfaces_to_stop

YAML::Node config

double actual_position = std::numeric_limits<double>::quiet_NaN()

double actual_velocity = std::numeric_limits<double>::quiet_NaN()

double target_position = std::numeric_limits<double>::quiet_NaN()

double target_velocity = std::numeric_limits<double>::quiet_NaN()

double target_torque = std::numeric_limits<double>::quiet_NaN()