Class FrankaRobotStateBroadcaster
Defined in File franka_robot_state_broadcaster.hpp
Inheritance Relationships
Base Type
public controller_interface::ControllerInterface
Class Documentation
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class FrankaRobotStateBroadcaster : public controller_interface::ControllerInterface
Public Functions
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inline explicit FrankaRobotStateBroadcaster(std::unique_ptr<franka_semantic_components::FrankaRobotState> franka_robot_state = nullptr)
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controller_interface::InterfaceConfiguration command_interface_configuration() const override
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controller_interface::InterfaceConfiguration state_interface_configuration() const override
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controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
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controller_interface::CallbackReturn on_init() override
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controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
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controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override
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controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override
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inline explicit FrankaRobotStateBroadcaster(std::unique_ptr<franka_semantic_components::FrankaRobotState> franka_robot_state = nullptr)