Class JointTrajectoryController

• Defined in File joint_trajectory_controller.hpp

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterface

Class Documentation

class JointTrajectoryController : public controller_interface::ControllerInterface

Public Functions

JOINT_TRAJECTORY_CONTROLLER_PUBLIC JointTrajectoryController()

JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

command_interface_configuration

JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

command_interface_configuration

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

JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init () override

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

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

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

JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override

JOINT_TRAJECTORY_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_error (const rclcpp_lifecycle::State &previous_state) override

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

Protected Types

template<typename T>
using InterfaceReferences = std::vector<std::vector<std::reference_wrapper<T>>>

using PidPtr = std::shared_ptr<control_toolbox::Pid>

using ControllerStateMsg = control_msgs::msg::JointTrajectoryControllerState

using StatePublisher = realtime_tools::RealtimePublisher<ControllerStateMsg>

using StatePublisherPtr = std::unique_ptr<StatePublisher>

using FollowJTrajAction = control_msgs::action::FollowJointTrajectory

using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle<FollowJTrajAction>

using RealtimeGoalHandlePtr = std::shared_ptr<RealtimeGoalHandle>

using RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer<RealtimeGoalHandlePtr>

using JointTrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint

Protected Functions

JOINT_TRAJECTORY_CONTROLLER_PUBLIC void topic_callback (const std::shared_ptr< trajectory_msgs::msg::JointTrajectory > msg)

JOINT_TRAJECTORY_CONTROLLER_PUBLIC rclcpp_action::GoalResponse goal_received_callback (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const FollowJTrajAction::Goal > goal)

JOINT_TRAJECTORY_CONTROLLER_PUBLIC rclcpp_action::CancelResponse goal_cancelled_callback (const std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJTrajAction > > goal_handle)

JOINT_TRAJECTORY_CONTROLLER_PUBLIC void goal_accepted_callback (std::shared_ptr< rclcpp_action::ServerGoalHandle< FollowJTrajAction > > goal_handle)

JOINT_TRAJECTORY_CONTROLLER_PUBLIC void compute_error_for_joint (JointTrajectoryPoint &error, const size_t index, const JointTrajectoryPoint &current, const JointTrajectoryPoint &desired) const

Computes the error for a specific joint in the trajectory.

Parameters:

• error – [out] The computed error for the joint.

• index – [in] The index of the joint in the trajectory.

• current – [in] The current state of the joints.

• desired – [in] The desired state of the joints.

JOINT_TRAJECTORY_CONTROLLER_PUBLIC void fill_partial_goal (std::shared_ptr< trajectory_msgs::msg::JointTrajectory > trajectory_msg) const

JOINT_TRAJECTORY_CONTROLLER_PUBLIC void sort_to_local_joint_order (std::shared_ptr< trajectory_msgs::msg::JointTrajectory > trajectory_msg) const

JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool validate_trajectory_msg (const trajectory_msgs::msg::JointTrajectory &trajectory) const

JOINT_TRAJECTORY_CONTROLLER_PUBLIC void add_new_trajectory_msg (const std::shared_ptr< trajectory_msgs::msg::JointTrajectory > &traj_msg)

JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool validate_trajectory_point_field (size_t joint_names_size, const std::vector< double > &vector_field, const std::string &string_for_vector_field, size_t i, bool allow_empty) const

JOINT_TRAJECTORY_CONTROLLER_PUBLIC void preempt_active_goal ()

JOINT_TRAJECTORY_CONTROLLER_PUBLIC std::shared_ptr< trajectory_msgs::msg::JointTrajectory > set_hold_position ()

set the current position with zero velocity and acceleration as new command

JOINT_TRAJECTORY_CONTROLLER_PUBLIC std::shared_ptr< trajectory_msgs::msg::JointTrajectory > set_success_trajectory_point ()

set last trajectory point to be repeated at success

no matter if it has nonzero velocity or acceleration

JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool reset ()

JOINT_TRAJECTORY_CONTROLLER_PUBLIC bool has_active_trajectory () const

JOINT_TRAJECTORY_CONTROLLER_PUBLIC void publish_state (const rclcpp::Time &time, const JointTrajectoryPoint &desired_state, const JointTrajectoryPoint &current_state, const JointTrajectoryPoint &state_error)

void read_state_from_state_interfaces(JointTrajectoryPoint &state)

bool read_state_from_command_interfaces(JointTrajectoryPoint &state)

Assign values from the command interfaces as state. This is only possible if command AND state interfaces exist for the same type, therefore needs check for both.

Parameters:

state – [out] to be filled with values from command interfaces.

Returns:

true if all interfaces exists and contain non-NaN values, false otherwise.

bool read_commands_from_command_interfaces(JointTrajectoryPoint &commands)

void query_state_service(const std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Request> request, std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Response> response)

Protected Attributes

const std::vector<std::string> allowed_interface_types_ = {hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY, hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT,}

trajectory_msgs::msg::JointTrajectoryPoint state_current_

trajectory_msgs::msg::JointTrajectoryPoint command_current_

trajectory_msgs::msg::JointTrajectoryPoint state_desired_

trajectory_msgs::msg::JointTrajectoryPoint state_error_

size_t dof_

std::vector<std::string> command_joint_names_

std::shared_ptr<ParamListener> param_listener_

Params params_

trajectory_msgs::msg::JointTrajectoryPoint last_commanded_state_

interpolation_methods::InterpolationMethod interpolation_method_{interpolation_methods::DEFAULT_INTERPOLATION}

Specify interpolation method. Default to splines.

InterfaceReferences<hardware_interface::LoanedCommandInterface> joint_command_interface_

InterfaceReferences<hardware_interface::LoanedStateInterface> joint_state_interface_

bool has_position_state_interface_ = false

bool has_velocity_state_interface_ = false

bool has_acceleration_state_interface_ = false

bool has_position_command_interface_ = false

bool has_velocity_command_interface_ = false

bool has_acceleration_command_interface_ = false

bool has_effort_command_interface_ = false

bool use_closed_loop_pid_adapter_ = false

If true, a velocity feedforward term plus corrective PID term is used.

std::vector<PidPtr> pids_

std::vector<double> ff_velocity_scale_

std::vector<bool> joints_angle_wraparound_

std::vector<double> tmp_command_

double cmd_timeout_

realtime_tools::RealtimeBuffer<bool> rt_is_holding_

bool subscriber_is_active_ = false

rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr joint_command_subscriber_ = nullptr

rclcpp::Service<control_msgs::srv::QueryTrajectoryState>::SharedPtr query_state_srv_

std::shared_ptr<Trajectory> traj_external_point_ptr_ = nullptr

realtime_tools::RealtimeBuffer<std::shared_ptr<trajectory_msgs::msg::JointTrajectory>> traj_msg_external_point_ptr_

std::shared_ptr<trajectory_msgs::msg::JointTrajectory> hold_position_msg_ptr_ = nullptr

rclcpp::Publisher<ControllerStateMsg>::SharedPtr publisher_

StatePublisherPtr state_publisher_

rclcpp_action::Server<FollowJTrajAction>::SharedPtr action_server_

RealtimeGoalHandleBuffer rt_active_goal_

Currently active action goal, if any.

realtime_tools::RealtimeBuffer<bool> rt_has_pending_goal_

Is there a pending action goal?

rclcpp::TimerBase::SharedPtr goal_handle_timer_

rclcpp::Duration action_monitor_period_ = rclcpp::Duration(50ms)

SegmentTolerances default_tolerances_