Class GpioCommandController

Defined in File gpio_command_controller.hpp

Inheritance Relationships

Base Type

public controller_interface::ControllerInterface

Class Documentation

class GpioCommandController : public controller_interface::ControllerInterface

Public Functions

GpioCommandController()

controller_interface::InterfaceConfiguration command_interface_configuration() const override

controller_interface::InterfaceConfiguration state_interface_configuration() const override

CallbackReturn on_init() override

CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override

controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Attributes

InterfacesNames command_interface_types_

InterfacesNames state_interface_types_

MapOfReferencesToCommandInterfaces command_interfaces_map_

MapOfReferencesToStateInterfaces state_interfaces_map_

realtime_tools::RealtimeBuffer<std::shared_ptr<CmdType>> rt_command_ptr_ = {}

rclcpp::Subscription<CmdType>::SharedPtr gpios_command_subscriber_ = {}

std::shared_ptr<rclcpp::Publisher<StateType>> gpio_state_publisher_ = {}

std::shared_ptr<realtime_tools::RealtimePublisher<StateType>> realtime_gpio_state_publisher_ = {}

std::shared_ptr<gpio_command_controller_parameters::ParamListener> param_listener_ = {}

gpio_command_controller_parameters::Params params_