Class ControllerManager

Defined in File controller_manager.h

Inheritance Relationships

Base Type

public std::enable_shared_from_this< ControllerManager >

Class Documentation

class ControllerManager : public std::enable_shared_from_this<ControllerManager>

Base class for a controller manager.

Public Functions

ControllerManager()

inline virtual ~ControllerManager(): Ensure proper shutdown with virtual destructor.

virtual int init(std::shared_ptr<rclcpp::Node> node, std::shared_ptr<tf2_ros::Buffer> buffer)

Startup the controller manager, loading default controllers.

Note: JointHandles should be added before this is called.

Parameters:: nh – The proper node handle for finding parameters.
Returns:: 0 if success, negative values are error codes.

virtual int init(std::shared_ptr<rclcpp::Node> node): Older interface that does not allow for passing in a buffer.

virtual int requestStart(const std::string &name): Start a controller.

virtual int requestStop(const std::string &name): Stop a controller.

virtual void update(const rclcpp::Time &time, const rclcpp::Duration &dt): Update active controllers.

virtual void reset(): Reset all controllers.

bool addJointHandle(JointHandlePtr &joint_handle_ptr): Add a joint handle.

bool addGyroHandle(GyroHandlePtr gyro_hanle_ptr): Add a gyro handle.

HandlePtr getHandle(const std::string &name)

Get the handle associated with a particular joint/controller name.

Parameters:: name – The name of the joint/controller.

JointHandlePtr getJointHandle(const std::string &name)

Get the joint handle associated with a particular joint name.

This is mainly a convienence function.

Parameters:: name – The name of the joint.

GyroHandlePtr getGyroHandle(const std::string &name)

Get the gyro handle associated with a particular gyro name.

This is mainly a convienence function.

Parameters:: name – The name of the gyro.

std::vector<std::string> getJointNames(): Get the names of all joints.

std::vector<std::string> getControllerNames(): Get the names of all controllers.

std::shared_ptr<tf2_ros::Buffer> getTransformBuffer(): In ROS2, each transform listener incurs an extra node, limit this reusing the same transform listener where possible.