ros_control_boilerplate::GenericHWControlLoop Class Reference

The control loop - repeatidly calls read() and write() to the hardware interface at a specified frequency We use MONOTONIC time to ensure robustness in the event of system time updates/change. See http://stackoverflow.com/questions/3523442/difference-between-clock-realtime-and-clock-monotonic. More...

#include <generic_hw_control_loop.h>

Public Member Functions
	GenericHWControlLoop (ros::NodeHandle &nh, boost::shared_ptr< hardware_interface::RobotHW > hardware_interface)
	Constructor. More...
void	run ()

Protected Member Functions
void	update ()

Protected Attributes
boost::shared_ptr< controller_manager::ControllerManager >	controller_manager_
	ROS Controller Manager and Runner. More...
struct timespec	current_time_
double	cycle_time_error_threshold_
ros::Duration	desired_update_period_
ros::Duration	elapsed_time_
boost::shared_ptr< hardware_interface::RobotHW >	hardware_interface_
	Abstract Hardware Interface for your robot. More...
struct timespec	last_time_
double	loop_hz_
std::string	name_ = "generic_hw_control_loop"
ros::NodeHandle	nh_

Detailed Description

The control loop - repeatidly calls read() and write() to the hardware interface at a specified frequency We use MONOTONIC time to ensure robustness in the event of system time updates/change. See http://stackoverflow.com/questions/3523442/difference-between-clock-realtime-and-clock-monotonic.

Definition at line 56 of file generic_hw_control_loop.h.

Constructor & Destructor Documentation

GenericHWControlLoop()

ros_control_boilerplate::GenericHWControlLoop::GenericHWControlLoop	(	ros::NodeHandle &	nh,
		boost::shared_ptr< hardware_interface::RobotHW >	hardware_interface
	)

Constructor.

Parameters

NodeHandle
hardware_interface	- the robot-specific hardware interface to be use with your robot

Definition at line 47 of file generic_hw_control_loop.cpp.

Member Function Documentation

run()

void ros_control_boilerplate::GenericHWControlLoop::run

(

)

Definition at line 67 of file generic_hw_control_loop.cpp.

update()

void ros_control_boilerplate::GenericHWControlLoop::update ( )

protected

Definition at line 77 of file generic_hw_control_loop.cpp.

Member Data Documentation

controller_manager_

boost::shared_ptr<controller_manager::ControllerManager> ros_control_boilerplate::GenericHWControlLoop::controller_manager_

protected

ROS Controller Manager and Runner.

This class advertises a ROS interface for loading, unloading, starting, and stopping ros_control-based controllers. It also serializes execution of all running controllers in update.

Definition at line 97 of file generic_hw_control_loop.h.

current_time_

struct timespec ros_control_boilerplate::GenericHWControlLoop::current_time_

protected

Definition at line 89 of file generic_hw_control_loop.h.

cycle_time_error_threshold_

double ros_control_boilerplate::GenericHWControlLoop::cycle_time_error_threshold_

protected

Definition at line 83 of file generic_hw_control_loop.h.

desired_update_period_

ros::Duration ros_control_boilerplate::GenericHWControlLoop::desired_update_period_

protected

Definition at line 82 of file generic_hw_control_loop.h.

elapsed_time_

ros::Duration ros_control_boilerplate::GenericHWControlLoop::elapsed_time_

protected

Definition at line 86 of file generic_hw_control_loop.h.

hardware_interface_

boost::shared_ptr<hardware_interface::RobotHW> ros_control_boilerplate::GenericHWControlLoop::hardware_interface_

protected

Abstract Hardware Interface for your robot.

Definition at line 100 of file generic_hw_control_loop.h.

last_time_

struct timespec ros_control_boilerplate::GenericHWControlLoop::last_time_

protected

Definition at line 88 of file generic_hw_control_loop.h.

loop_hz_

double ros_control_boilerplate::GenericHWControlLoop::loop_hz_

protected

Definition at line 87 of file generic_hw_control_loop.h.

name_

std::string ros_control_boilerplate::GenericHWControlLoop::name_ = "generic_hw_control_loop"

protected

Definition at line 79 of file generic_hw_control_loop.h.

nh_

ros::NodeHandle ros_control_boilerplate::GenericHWControlLoop::nh_

protected

Definition at line 76 of file generic_hw_control_loop.h.

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The documentation for this class was generated from the following files:

• generic_hw_control_loop.h
• generic_hw_control_loop.cpp