Class FfwRobotManager

Defined in File ffw_robot_manager.hpp

Inheritance Relationships

Base Type

public controller_interface::ControllerInterface

Class Documentation

class FfwRobotManager : public controller_interface::ControllerInterface

Public Functions

FfwRobotManager()

controller_interface::InterfaceConfiguration command_interface_configuration() const override

controller_interface::InterfaceConfiguration state_interface_configuration() const override

controller_interface::CallbackReturn on_init() override

controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override

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

controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override

controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Functions

void disable_all_torque()

void set_led_error_state()

void reset_led_state()

bool set_led_values(const std::vector<uint32_t> &values)

bool set_led_values(const LedValues &led_values)

bool set_led_values(uint32_t left_red, uint32_t left_green, uint32_t left_blue, uint32_t right_red, uint32_t right_green, uint32_t right_blue, uint32_t left_mode = 1, uint32_t right_mode = 1)

bool set_led_values(uint32_t left_red, uint32_t left_green, uint32_t left_blue, uint32_t right_red, uint32_t right_green, uint32_t right_blue, LedMode left_mode, LedMode right_mode)

bool set_led_color(uint32_t red, uint32_t green, uint32_t blue, uint32_t mode = 1)

bool set_led_color(uint32_t red, uint32_t green, uint32_t blue, LedMode mode)

void setup_watchdogs()

void setup_battery_monitoring()

void update_battery_states()

sensor_msgs::msg::BatteryState create_battery_state(double voltage, double soc, const std::string &frame_id)

Protected Attributes

std::vector<std::string> gpio_names_

std::unordered_map<std::string, std::unordered_map<std::string, size_t>> gpio_interface_indices_

rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr torque_client_

rclcpp::Client<dynamixel_interfaces::srv::SetDataToDxl>::SharedPtr led_client_

bool torque_disabled_ = false

bool led_error_set_ = false

std::shared_ptr<ParamListener> param_listener_

Params params_

std::unique_ptr<TopicWatchdog<dynamixel_interfaces::msg::DynamixelState>> dxl_state_watchdog_

std::vector<rclcpp::Publisher<sensor_msgs::msg::BatteryState>::SharedPtr> battery_publishers_

std::vector<BatteryInfo> battery_configurations_

std::shared_ptr<RobotType> robot_type_

bool battery_monitoring_enabled_ = false