C++ API

robot_controllers_interface

Overview

The robot_controllers_interface package provides ROS messages and header files that define how robot controllers are created and managed. There are several key components:

• A ControllerManager, which manages the loading, starting and stopping of controllers.

• One or more Controllers, which actually convert ROS messages into commands to the mechanism.

• One or more Handles, which expose an API so that Controllers can pass commands to the mechanism.

Class Hierarchy

• • Namespace robot_controllers_interface
    • Class Controller
    • Class ControllerLoader
    • Class ControllerManager
    • Class GyroHandle
    • Class Handle
    • Class JointHandle

File Hierarchy

• • Directory include
    • Directory robot_controllers_interface
      • File controller.h
      • File controller_loader.h
      • File controller_manager.h
      • File gyro_handle.h
      • File handle.h
      • File joint_handle.h
      • File utils.h

Full C++ API

Namespaces

• Namespace robot_controllers_interface

• Namespace std

Classes and Structs

• Class Controller

• Class ControllerLoader

• Class ControllerManager

• Class GyroHandle

• Class Handle

• Class JointHandle

Functions

• Template Function robot_controllers_interface::declare_parameter_once

• Function robot_controllers_interface::get_safe_topic_name

• Template Function robot_controllers_interface::msg_to_sec

• Template Function robot_controllers_interface::to_sec

Typedefs

• Typedef robot_controllers_interface::ControllerLoaderPtr

• Typedef robot_controllers_interface::ControllerManagerPtr

• Typedef robot_controllers_interface::ControllerPtr

• Typedef robot_controllers_interface::GyroHandlePtr

• Typedef robot_controllers_interface::HandlePtr

• Typedef robot_controllers_interface::JointHandlePtr

Directories

• Directory include

• Directory robot_controllers_interface

Files

• File controller.h

• File controller_loader.h

• File controller_manager.h

• File gyro_handle.h

• File handle.h

• File joint_handle.h

• File utils.h