effort_test_controller.cpp
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1 // Copyright (C) 2012, hiDOF INC.
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27 
28 
30 
31 using namespace controller_manager_tests;
32 
34 {
35  // get all joint states from the hardware interface
36  // const std::vector<std::string>& joint_names = hw->getJointNames();
37  // for (unsigned i=0; i<joint_names.size(); i++)
38  // ROS_INFO("Got joint %s", joint_names[i].c_str());
39  std::vector<std::string> joint_names;
40 
41  if (!n.getParam("joints", joint_names))
42  {
43  joint_names.push_back("hiDOF_joint1");
44  joint_names.push_back("hiDOF_joint2");
45  }
46 
47  for (unsigned i=0; i<joint_names.size(); i++)
48  joint_effort_commands_.push_back(hw->getHandle(joint_names[i]));
49 
50  return true;
51 }
52 
54 {
55  ROS_INFO("Starting JointState Controller");
56 }
57 
58 void EffortTestController::update(const ros::Time& /*time*/, const ros::Duration& /*period*/)
59 {
60  for (unsigned int i=0; i < joint_effort_commands_.size(); i++)
61  {
62 
63  }
64 }
65 
67 {
68  ROS_INFO("Stopping JointState Controller");
69 }
70 
#define ROS_INFO(...)
void update(const ros::Time &, const ros::Duration &)
JointHandle getHandle(const std::string &name)
bool getParam(const std::string &key, std::string &s) const
std::vector< hardware_interface::JointHandle > joint_effort_commands_
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
bool init(hardware_interface::EffortJointInterface *hw, ros::NodeHandle &)


controller_manager_tests
Author(s): Vijay Pradeep, Adolfo Rodriguez Tsouroukdissian
autogenerated on Mon Apr 20 2020 03:52:10