Class ControllerManager

Defined in File controller_manager.hpp

Inheritance Relationships

Base Type

public as2::Node

Class Documentation

class ControllerManager : public as2::Node 

ROS 2 node that loads a controller plugin and runs the control loop.

Loads the plugin selected by the plugin_name parameter through pluginlib, owns the shared TfHandler, hosts the ControllerHandler that orchestrates the control cycle, and publishes the active control modes on controller/info.

Public Functions

explicit ControllerManager(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

Construct the manager and load the configured controller plugin.

Parameters:: options – ROS 2 node options forwarded to the as2::Node base.

~ControllerManager(): Destroy the manager, releasing the plugin loader and the handler.

Public Members

double cmd_freq_: Control loop frequency, in Hz.