Class PumaHardware

Defined in File hardware.hpp

Inheritance Relationships

Base Type

public hardware_interface::SystemInterface

Class Documentation

class PumaHardware : public hardware_interface::SystemInterface

Public Functions

HARDWARE_INTERFACE_PUBLIC hardware_interface::CallbackReturn on_init (const hardware_interface::HardwareInfo &info) override

HARDWARE_INTERFACE_PUBLIC std::vector< hardware_interface::StateInterface > export_state_interfaces () override

HARDWARE_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface > export_command_interfaces () override

HARDWARE_INTERFACE_PUBLIC hardware_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

HARDWARE_INTERFACE_PUBLIC hardware_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

HARDWARE_INTERFACE_PUBLIC hardware_interface::return_type read (const rclcpp::Time &time, const rclcpp::Duration &period) override

HARDWARE_INTERFACE_PUBLIC hardware_interface::return_type write (const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Functions

void writeCommandsToHardware()

void updateJointsFromHardware()

virtual hardware_interface::CallbackReturn getHardwareInfo(const hardware_interface::HardwareInfo &info)

virtual hardware_interface::CallbackReturn validateJoints()

virtual hardware_interface::CallbackReturn initHardwareInterface()

Protected Attributes

std::shared_ptr<PumaHardwareInterface> node_

std::vector<double> hw_commands_

std::vector<double> hw_states_position_

std::vector<double> hw_states_position_offset_

std::vector<double> hw_states_velocity_

std::map<std::string, uint8_t> wheel_joints_

uint8_t num_joints_

std::string hw_name_