Class SystemInterface

• Defined in File system_interface.hpp

Inheritance Relationships

Base Type

• public hardware_interface::SystemInterface

Class Documentation

class SystemInterface : public hardware_interface::SystemInterface

A ROS2-control SystemInterface for the Schunk SVH.

This class provides the hardware abstraction for the Schunk SVH in ROS2. It’s instantiated via the usual ROS2-conform lifecylce as a controller_manager coordinated library. Its goal is to support all relevant hardware_interfaces as exposed by the schunk_svh_library.

Public Types

using return_type = hardware_interface::return_type

Public Functions

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

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

CallbackReturn on_shutdown(const rclcpp_lifecycle::State &previous_state) override

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

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

return_type prepare_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override

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

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