Class ControllerHandler

Class Documentation

class ControllerHandler

Orchestrates the controller plugin life cycle inside the ControllerManager.

Owns the subscriptions for state and motion references, the publishers for actuator commands and debug topics, the controller/set_control_mode service server and the periodic control timer. The ControllerHandler does not own the plugin nor the TfHandler: both are injected by the ControllerManager.

Public Functions

ControllerHandler(std::shared_ptr<as2_motion_controller_plugin_base::ControllerBase> controller, as2::Node *node, as2::tf::TfHandler *tf_handler)

Construct a handler bound to a controller plugin and a node.

Parameters:

  • controller – Loaded controller plugin shared with ControllerManager.

  • node – Controller node providing logger, parameters and IO.

  • tf_handler – Non-owning pointer to the TfHandler owned by ControllerManager.

inline virtual ~ControllerHandler()
rcl_interfaces::msg::SetParametersResult parametersCallback(const std::vector<rclcpp::Parameter> &parameters)

rclcpp on_set_parameters callback applied to all parameter changes.

Forwards plugin-namespaced entries to ControllerBase::dispatchParameters and updates handler-owned state (frame ids, debug publishers).

Parameters:

parameters – Batch of parameters being set.

Returns:

SetParametersResult with the merged success flag.

void getMode(as2_msgs::msg::ControlMode &mode_in, as2_msgs::msg::ControlMode &mode_out)

Read the currently negotiated input/output control modes.

Parameters:

  • mode_in – Output: latest negotiated input control mode.

  • mode_out – Output: latest negotiated output control mode.

void setInputControlModesAvailables(const std::vector<uint8_t> &available_modes)

Declare the input control modes the plugin can accept.

Parameters:

available_modes – Bitmasks of supported input modes.

void setOutputControlModesAvailables(const std::vector<uint8_t> &available_modes)

Declare the output control modes the plugin can produce.

Parameters:

available_modes – Bitmasks of supported output modes.

void reset()

Clear the handler-side mode and reference state.