Class GazeboSystemInterface

Inheritance Relationships

Base Type

  • public hardware_interface::SystemInterface

Derived Type

Class Documentation

class GazeboSystemInterface : public hardware_interface::SystemInterface

Subclassed by gazebo_ros2_control::GazeboSystem

Public Types

enum ControlMethod_

Values:

enumerator NONE
enumerator POSITION
enumerator VELOCITY
enumerator EFFORT
enumerator VELOCITY_PID
enumerator POSITION_PID
typedef SafeEnum<enum ControlMethod_> ControlMethod

Public Functions

virtual bool initSim(rclcpp::Node::SharedPtr &model_nh, gazebo::physics::ModelPtr parent_model, const hardware_interface::HardwareInfo &hardware_info, sdf::ElementPtr sdf) = 0

Initialize the system interface param[in] model_nh pointer to the ros2 node param[in] parent_model pointer to the model param[in] control_hardware vector filled with information about robot’s control resources param[in] sdf pointer to the SDF.

Protected Attributes

rclcpp::Node::SharedPtr nh_