generic_hw_control_loop.h
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34 
35 /* Author: Dave Coleman
36  Desc: Example control loop for reading, updating, and writing commands to a hardware interface
37  using MONOTOIC system time
38 */
39 
40 #include <time.h>
43 
45 {
46 // Used to convert seconds elapsed to nanoseconds
47 static const double BILLION = 1000000000.0;
48 
57 {
58 public:
65  ros::NodeHandle& nh,
67 
68  // Run the control loop (blocking)
69  void run();
70 
71 protected:
72 
73  // Update funcion called with loop_hz_ rate
74  void update();
75 
76  // Startup and shutdown of the internal node inside a roscpp program
78 
79  // Name of this class
80  std::string name_ = "generic_hw_control_loop";
81 
82  // Settings
85 
86  // Timing
88  double loop_hz_;
89  struct timespec last_time_;
90  struct timespec current_time_;
91 
99 
102 
103 }; // end class
104 
105 } // namespace
GenericHWControlLoop(ros::NodeHandle &nh, boost::shared_ptr< hardware_interface::RobotHW > hardware_interface)
Constructor.
boost::shared_ptr< hardware_interface::RobotHW > hardware_interface_
Abstract Hardware Interface for your robot.
boost::shared_ptr< controller_manager::ControllerManager > controller_manager_
ROS Controller Manager and Runner.
The control loop - repeatidly calls read() and write() to the hardware interface at a specified frequ...


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Thu Feb 25 2021 03:58:54