The control loop - repeatidly calls read() and write() to the hardware interface at a specified frequency We use MONOTONIC time to ensure robustness in the event of system time updates/change. See http://stackoverflow.com/questions/3523442/difference-between-clock-realtime-and-clock-monotonic. More...

#include <generic_hw_control_loop.h>

Public Member Functions
	GenericHWControlLoop (ros::NodeHandle &nh, boost::shared_ptr< ros_control_boilerplate::GenericHWInterface > hardware_interface)
	Constructor.
void	update (const ros::TimerEvent &e)
	Timer event Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing.
Protected Attributes
boost::shared_ptr < controller_manager::ControllerManager >	controller_manager_
	ROS Controller Manager and Runner.
struct timespec	current_time_
double	cycle_time_error_threshold_
ros::Duration	desired_update_freq_
ros::Duration	elapsed_time_
boost::shared_ptr < ros_control_boilerplate::GenericHWInterface >	hardware_interface_
	Abstract Hardware Interface for your robot.
struct timespec	last_time_
double	loop_hz_
std::string	name_ = "generic_hw_control_loop"
ros::NodeHandle	nh_
ros::Timer	non_realtime_loop_

Detailed Description

The control loop - repeatidly calls read() and write() to the hardware interface at a specified frequency We use MONOTONIC time to ensure robustness in the event of system time updates/change. See http://stackoverflow.com/questions/3523442/difference-between-clock-realtime-and-clock-monotonic.

Definition at line 55 of file generic_hw_control_loop.h.

Constructor & Destructor Documentation

ros_control_boilerplate::GenericHWControlLoop::GenericHWControlLoop	(	ros::NodeHandle &	nh,
		boost::shared_ptr< ros_control_boilerplate::GenericHWInterface >	hardware_interface
	)

Constructor.

Parameters:

NodeHandle
hardware_interface	- the robot-specific hardware interface to be use with your robot

Definition at line 47 of file generic_hw_control_loop.cpp.

Member Function Documentation

void ros_control_boilerplate::GenericHWControlLoop::update ( const ros::TimerEvent & e )

Timer event Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing.

Definition at line 69 of file generic_hw_control_loop.cpp.

Member Data Documentation

boost::shared_ptr<controller_manager::ControllerManager> ros_control_boilerplate::GenericHWControlLoop::controller_manager_ [protected]

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 98 of file generic_hw_control_loop.h.

struct timespec ros_control_boilerplate::GenericHWControlLoop::current_time_ [protected]

Definition at line 90 of file generic_hw_control_loop.h.

double ros_control_boilerplate::GenericHWControlLoop::cycle_time_error_threshold_ [protected]

Definition at line 83 of file generic_hw_control_loop.h.

ros::Duration ros_control_boilerplate::GenericHWControlLoop::desired_update_freq_ [protected]

Definition at line 82 of file generic_hw_control_loop.h.

ros::Duration ros_control_boilerplate::GenericHWControlLoop::elapsed_time_ [protected]

Definition at line 87 of file generic_hw_control_loop.h.

boost::shared_ptr<ros_control_boilerplate::GenericHWInterface> ros_control_boilerplate::GenericHWControlLoop::hardware_interface_ [protected]

Abstract Hardware Interface for your robot.

Definition at line 101 of file generic_hw_control_loop.h.