gazebo_ros_control::RobotHWSim Class Reference

Gazebo plugin version of RobotHW. More...

#include <robot_hw_sim.h>

Inheritance diagram for gazebo_ros_control::RobotHWSim:

Public Member Functions
virtual void	eStopActive (const bool active)
	Set the emergency stop state. More...
virtual bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)=0
	Initialize the simulated robot hardware. More...
virtual void	readSim (ros::Time time, ros::Duration period)=0
	Read state data from the simulated robot hardware. More...
virtual void	writeSim (ros::Time time, ros::Duration period)=0
	Write commands to the simulated robot hardware. More...
virtual	~RobotHWSim ()
Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const
virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual bool	init (ros::NodeHandle &, ros::NodeHandle &)
virtual bool	prepareSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual void	read (const ros::Time &, const ros::Duration &)
virtual void	read (const ros::Time &, const ros::Duration &)
virtual SwitchState	switchResult () const
virtual SwitchState	switchResult (const ControllerInfo &) const
virtual void	write (const ros::Time &, const ros::Duration &)
virtual void	write (const ros::Time &, const ros::Duration &)
virtual	~RobotHW ()=default
Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()
std::vector< std::string >	getInterfaceResources (std::string iface_type) const
std::vector< std::string >	getNames () const
void	registerInterface (T *iface)
void	registerInterfaceManager (InterfaceManager *iface_man)

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState { SwitchState::DONE, SwitchState::ONGOING, SwitchState::ERROR }
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector
typedef std::map< std::string, void * >	InterfaceMap
typedef std::map< std::string, std::vector< std::string > >	ResourceMap
typedef std::map< std::string, size_t >	SizeMap
Protected Attributes inherited from hardware_interface::InterfaceManager
std::vector< ResourceManagerBase * >	interface_destruction_list_
InterfaceManagerVector	interface_managers_
InterfaceMap	interfaces_
InterfaceMap	interfaces_combo_
SizeMap	num_ifaces_registered_
ResourceMap	resources_

Detailed Description

Gazebo plugin version of RobotHW.

An object of class RobotHWSim represents a robot's simulated hardware.

Definition at line 102 of file robot_hw_sim.h.

Constructor & Destructor Documentation

~RobotHWSim()

virtual gazebo_ros_control::RobotHWSim::~RobotHWSim ( )

inlinevirtual

Definition at line 106 of file robot_hw_sim.h.

Member Function Documentation

eStopActive()

virtual void gazebo_ros_control::RobotHWSim::eStopActive ( const bool  active )

inlinevirtual

Set the emergency stop state.

Set the simulated robot's emergency stop state. The default implementation of this function does nothing.

Parameters

active

true if the emergency stop is active, false if not.

Reimplemented in gazebo_ros_control::DefaultRobotHWSim.

Definition at line 147 of file robot_hw_sim.h.

initSim()

virtual bool gazebo_ros_control::RobotHWSim::initSim ( const std::string &  robot_namespace, ros::NodeHandle  model_nh, gazebo::physics::ModelPtr  parent_model, const urdf::Model *const  urdf_model, std::vector< transmission_interface::TransmissionInfo >  transmissions  )

pure virtual

Initialize the simulated robot hardware.

Initialize the simulated robot hardware.

Parameters

robot_namespace	Robot namespace.
model_nh	Model node handle.
parent_model	Parent model.
urdf_model	URDF model.
transmissions	Transmissions.

Returns

true if the simulated robot hardware is initialized successfully, false if not.

Implemented in gazebo_ros_control::DefaultRobotHWSim.

readSim()

virtual void gazebo_ros_control::RobotHWSim::readSim ( ros::Time  time, ros::Duration  period  )

pure virtual

Read state data from the simulated robot hardware.

Read state data, such as joint positions and velocities, from the simulated robot hardware.

Parameters

time	Simulation time.
period	Time since the last simulation step.

Implemented in gazebo_ros_control::DefaultRobotHWSim.

writeSim()

virtual void gazebo_ros_control::RobotHWSim::writeSim ( ros::Time  time, ros::Duration  period  )

pure virtual

Write commands to the simulated robot hardware.

Write commands, such as joint position and velocity commands, to the simulated robot hardware.

Parameters

time	Simulation time.
period	Time since the last simulation step.

Implemented in gazebo_ros_control::DefaultRobotHWSim.

---

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

• robot_hw_sim.h