Class GPIOController

Defined in File gpio_controller.hpp

Inheritance Relationships

Base Type

public controller_interface::ControllerInterface

Class Documentation

class GPIOController : public controller_interface::ControllerInterface

Public Functions

controller_interface::InterfaceConfiguration command_interface_configuration() const override

controller_interface::InterfaceConfiguration state_interface_configuration() const override

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

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

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

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

CallbackReturn on_init() override

Protected Functions

void initMsgs()

bool waitForAsyncCommand(std::function<double(void)> get_value): wait until a command interface isn’t in state ASYNC_WAITING anymore or until the parameter maximum_retries have been reached

Protected Attributes

bool first_pass_

std::array<double, 18> standard_digital_output_cmd_

std::array<double, 18> standard_analog_output_cmd_

double target_speed_fraction_cmd_

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resend_robot_program_srv_

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr hand_back_control_srv_

rclcpp::Service<ur_msgs::srv::SetSpeedSliderFraction>::SharedPtr set_speed_slider_srv_

rclcpp::Service<ur_msgs::srv::SetIO>::SharedPtr set_io_srv_

rclcpp::Service<ur_msgs::srv::SetPayload>::SharedPtr set_payload_srv_

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr tare_sensor_srv_

std::shared_ptr<rclcpp::Publisher<ur_msgs::msg::IOStates>> io_pub_

std::shared_ptr<rclcpp::Publisher<ur_msgs::msg::ToolDataMsg>> tool_data_pub_

std::shared_ptr<rclcpp::Publisher<ur_dashboard_msgs::msg::RobotMode>> robot_mode_pub_

std::shared_ptr<rclcpp::Publisher<ur_dashboard_msgs::msg::SafetyMode>> safety_mode_pub_

std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>> program_state_pub_

ur_msgs::msg::IOStates io_msg_

ur_msgs::msg::ToolDataMsg tool_data_msg_

ur_dashboard_msgs::msg::RobotMode robot_mode_msg_

ur_dashboard_msgs::msg::SafetyMode safety_mode_msg_

std_msgs::msg::Bool program_running_msg_

std::shared_ptr<gpio_controller::ParamListener> param_listener_

gpio_controller::Params params_

Protected Static Attributes

static constexpr double ASYNC_WAITING = 2.0