Class GazeboCustomSimSystem

Defined in File gz_custom_system.hpp

Inheritance Relationships

Base Type

public gz_ros2_control::GazeboSimSystemInterface

Class Documentation

class GazeboCustomSimSystem : public gz_ros2_control::GazeboSimSystemInterface

Public Functions

CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams &params) override

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

std::vector<hardware_interface::StateInterface> export_state_interfaces() override

std::vector<hardware_interface::CommandInterface> export_command_interfaces() override

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

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

hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override

hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override

bool initSim(rclcpp::Node::SharedPtr &model_nh, std::map<std::string, sim::Entity> &joints, const hardware_interface::HardwareInfo &hardware_info, sim::EntityComponentManager &_ecm, unsigned int update_rate) override