Class FrankaRobotStateBroadcaster

Inheritance Relationships

Base Type

  • public controller_interface::ControllerInterface

Class Documentation

class FrankaRobotStateBroadcaster : public controller_interface::ControllerInterface

Public Functions

inline explicit FrankaRobotStateBroadcaster(std::unique_ptr<franka_semantic_components::FrankaRobotState> franka_robot_state = nullptr)
controller_interface::InterfaceConfiguration command_interface_configuration() const override
controller_interface::InterfaceConfiguration state_interface_configuration() const override
controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
controller_interface::CallbackReturn on_init() override
controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override