ROS Controller Manager and Runner. More...

#include <controller_manager.h>

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::RobotHW *	robot_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< ControllerSpec >	controllers_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

controller_manager::ControllerManager::ControllerManager	(	hardware_interface::RobotHW *	robot_hw,
		const ros::NodeHandle &	nh = `ros::NodeHandle()`
	)

Constructor.

Parameters:

robot_hw	A pointer to a robot hardware interface
nh	The ros::NodeHandle in whose namespace all ROS interfaces should operate.

Definition at line 43 of file controller_manager.cpp.

controller_manager::ControllerManager::~ControllerManager ( ) [virtual]

Definition at line 68 of file controller_manager.cpp.

Member Function Documentation

controller_interface::ControllerBase * controller_manager::ControllerManager::getControllerByName ( const std::string & name ) [virtual]

Get a controller by name.

Parameters:

name	The 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:

name	The 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.

void controller_manager::ControllerManager::registerControllerLoader ( ControllerLoaderInterfaceSharedPtr controller_loader )

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_loader A 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_controllers	A vector of controller names to be started
stop_controllers	A vector of controller names to be stopped
strictness	How 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:

name	The 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:

time	The current time
period	The change in time since the last call to update
reset_controllers	If `true`, stop and start all running controllers before updating

Definition at line 75 of file controller_manager.cpp.