Public Member Functions | Private Member Functions | Private Attributes
controller_manager::ControllerManager Class Reference

ROS Controller Manager and Runner. More...

#include <controller_manager.h>

List of all members.

Public Member Functions

 ControllerManager (hardware_interface::RobotHW *robot_hw, const ros::NodeHandle &nh=ros::NodeHandle())
 Constructor.
virtual ~ControllerManager ()
Real-Time Safe Functions
void update (const ros::Time &time, const ros::Duration &period, bool reset_controllers=false)
 Update all active controllers.
Non Real-Time Safe Functions
bool loadController (const std::string &name)
 Load a new controller by name.
bool unloadController (const std::string &name)
 Unload a controller by name.
bool switchController (const std::vector< std::string > &start_controllers, const std::vector< std::string > &stop_controllers, const int strictness)
 Switch multiple controllers simultaneously.
virtual
controller_interface::ControllerBase
getControllerByName (const std::string &name)
 Get a controller by name.
void registerControllerLoader (ControllerLoaderInterfaceSharedPtr controller_loader)
 Register a controller loader.

Private Member Functions

void getControllerNames (std::vector< std::string > &v)

Private Attributes

ros::NodeHandle cm_node_
std::list
< ControllerLoaderInterfaceSharedPtr
controller_loaders_
hardware_interface::RobotHWrobot_hw_
ros::NodeHandle root_nh_
Controller Switching
std::vector
< controller_interface::ControllerBase * > 
start_request_
std::vector
< controller_interface::ControllerBase * > 
stop_request_
std::list
< hardware_interface::ControllerInfo
switch_start_list_
std::list
< hardware_interface::ControllerInfo
switch_stop_list_
bool please_switch_
int switch_strictness_
Controllers List

The controllers list is double-buffered to avoid needing to lock the real-time thread when switching controllers in the non-real-time thread.

boost::recursive_mutex controllers_lock_
 Mutex protecting the current controllers list.
std::vector< ControllerSpeccontrollers_lists_ [2]
 Double-buffered controllers list.
int current_controllers_list_
 The index of the current controllers list.
int used_by_realtime_
 The index of the controllers list being used in the real-time thread.

ROS Service API

boost::mutex services_lock_
ros::ServiceServer srv_list_controllers_
ros::ServiceServer srv_list_controller_types_
ros::ServiceServer srv_load_controller_
ros::ServiceServer srv_unload_controller_
ros::ServiceServer srv_switch_controller_
ros::ServiceServer srv_reload_libraries_
bool listControllerTypesSrv (controller_manager_msgs::ListControllerTypes::Request &req, controller_manager_msgs::ListControllerTypes::Response &resp)
bool listControllersSrv (controller_manager_msgs::ListControllers::Request &req, controller_manager_msgs::ListControllers::Response &resp)
bool switchControllerSrv (controller_manager_msgs::SwitchController::Request &req, controller_manager_msgs::SwitchController::Response &resp)
bool loadControllerSrv (controller_manager_msgs::LoadController::Request &req, controller_manager_msgs::LoadController::Response &resp)
bool unloadControllerSrv (controller_manager_msgs::UnloadController::Request &req, controller_manager_msgs::UnloadController::Response &resp)
bool reloadControllerLibrariesSrv (controller_manager_msgs::ReloadControllerLibraries::Request &req, controller_manager_msgs::ReloadControllerLibraries::Response &resp)

Detailed Description

ROS Controller Manager and Runner.

This class advertises a ROS interface for loading, unloading, starting, and stopping ros_control-based controllers. It also serializes execution of all running controllers in update.

Definition at line 69 of file controller_manager.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
robot_hwA pointer to a robot hardware interface
nhThe ros::NodeHandle in whose namespace all ROS interfaces should operate.

Definition at line 43 of file controller_manager.cpp.

Definition at line 68 of file controller_manager.cpp.


Member Function Documentation

Get a controller by name.

Parameters:
nameThe name of a controller
Returns:
An up-casted pointer to the controller identified by name

Definition at line 115 of file controller_manager.cpp.

void controller_manager::ControllerManager::getControllerNames ( std::vector< std::string > &  v) [private]

Definition at line 129 of file controller_manager.cpp.

bool controller_manager::ControllerManager::listControllersSrv ( controller_manager_msgs::ListControllers::Request &  req,
controller_manager_msgs::ListControllers::Response &  resp 
) [private]

Definition at line 603 of file controller_manager.cpp.

bool controller_manager::ControllerManager::listControllerTypesSrv ( controller_manager_msgs::ListControllerTypes::Request &  req,
controller_manager_msgs::ListControllerTypes::Response &  resp 
) [private]

Definition at line 576 of file controller_manager.cpp.

bool controller_manager::ControllerManager::loadController ( const std::string &  name)

Load a new controller by name.

This dynamically loads a controller called name and initializes the newly loaded controller.

It determines the controller type by accessing the ROS parameter "type" in the namespace given by name relative to the namespace of root_nh_. It then initializes the controller with the hardware_interface::RobotHW pointer robot_hw_, the ros::NodeHandle describing this namespace, and a reference to a std::set to retrieve the resources needed by this controller.

A controller cannot be loaded while already loaded. To re-load a controller, first unloadController and then loadController.

Parameters:
nameThe name of the controller as well as the ROS namespace under which the controller should be loaded
Returns:
True on success
False on failure

Definition at line 141 of file controller_manager.cpp.

bool controller_manager::ControllerManager::loadControllerSrv ( controller_manager_msgs::LoadController::Request &  req,
controller_manager_msgs::LoadController::Response &  resp 
) [private]

Definition at line 642 of file controller_manager.cpp.

Register a controller loader.

By default, the pluginlib-based ControllerLoader is registered on construction of this class. To load controllers through alternate means, register alternate controller loaders here. Note, however, that when controllers are loaded by loadController the controller loaders are queried in the order that they were registered. This means that if a controller CAN be loaded by the pluginlib-based ControllerLoader, then it WILL, regardless of which other loaders are registered.

Parameters:
controller_loaderA pointer to the loader to be registered

Definition at line 689 of file controller_manager.cpp.

bool controller_manager::ControllerManager::reloadControllerLibrariesSrv ( controller_manager_msgs::ReloadControllerLibraries::Request &  req,
controller_manager_msgs::ReloadControllerLibraries::Response &  resp 
) [private]

Definition at line 523 of file controller_manager.cpp.

bool controller_manager::ControllerManager::switchController ( const std::vector< std::string > &  start_controllers,
const std::vector< std::string > &  stop_controllers,
const int  strictness 
)

Switch multiple controllers simultaneously.

Parameters:
start_controllersA vector of controller names to be started
stop_controllersA vector of controller names to be stopped
strictnessHow important it is that the requested controllers are started and stopped. The levels are defined in the controller_manager_msgs/SwitchControllers service as either BEST_EFFORT or STRICT. BEST_EFFORT means that switchController can still succeed if a non-existent controller is requested to be stopped or started.

Definition at line 341 of file controller_manager.cpp.

bool controller_manager::ControllerManager::switchControllerSrv ( controller_manager_msgs::SwitchController::Request &  req,
controller_manager_msgs::SwitchController::Response &  resp 
) [private]

Definition at line 674 of file controller_manager.cpp.

bool controller_manager::ControllerManager::unloadController ( const std::string &  name)

Unload a controller by name.

Parameters:
nameThe name of the controller to unload. (The same as the one used in loadController )

Definition at line 277 of file controller_manager.cpp.

bool controller_manager::ControllerManager::unloadControllerSrv ( controller_manager_msgs::UnloadController::Request &  req,
controller_manager_msgs::UnloadController::Response &  resp 
) [private]

Definition at line 658 of file controller_manager.cpp.

void controller_manager::ControllerManager::update ( const ros::Time time,
const ros::Duration period,
bool  reset_controllers = false 
)

Update all active controllers.

When controllers are started or stopped (or switched), those calls are made in this function.

Parameters:
timeThe current time
periodThe change in time since the last call to update
reset_controllersIf true, stop and start all running controllers before updating

Definition at line 75 of file controller_manager.cpp.


Member Data Documentation

Definition at line 174 of file controller_manager.h.

Definition at line 176 of file controller_manager.h.

Double-buffered controllers list.

Definition at line 193 of file controller_manager.h.

Mutex protecting the current controllers list.

Definition at line 191 of file controller_manager.h.

The index of the current controllers list.

Definition at line 195 of file controller_manager.h.

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The index of the controllers list being used in the real-time thread.

Definition at line 197 of file controller_manager.h.


The documentation for this class was generated from the following files:


controller_manager
Author(s): Wim Meeussen, Mathias L├╝dtke
autogenerated on Sat Jun 8 2019 20:09:23