Class UrdfModifications

• Defined in File urdf_modifications.hpp

Inheritance Relationships

Base Type

• public SetupStep

Class Documentation

class UrdfModifications : public SetupStep

Public Functions

inline std::string getName() const override

void onInit() override

inline bool isReady() const override

inline void refresh()

bool needsModification() const

Return true if there aren’t ros2_control tags for all the joints.

void setInterfaces(const std::vector<std::string> &command_interfaces, const std::vector<std::string> &state_interfaces)

Add ros2_control tags for all unconfigured joints with the specified interfaces.

inline std::string getJointsXML() const

inline const ControlInterfaces &getDefaultControlInterfaces() const

inline const ControlInterfaces &getAvailableControlInterfaces() const

Protected Attributes

std::shared_ptr<SRDFConfig> srdf_config_

std::shared_ptr<ControlXacroConfig> control_xacro_config_