Class RobotSystem

Inheritance Relationships

Base Type

  • public hardware_interface::SystemInterface

Class Documentation

class RobotSystem : public hardware_interface::SystemInterface

Public Functions

inline CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC RobotSystem()
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC ~RobotSystem() = default
CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_init (const hardware_interface::HardwareInfo &info) override

Initialize the hardware interface.

Fetch the hardware info stored in the urdf. Specifically these values:

  • bus_config

  • master_config

  • can_interface_name

  • master_bin

Parameters:

info –

Returns:

hardware_interface::CallbackReturn

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

Configure the hardware interface.

Create the device container and the executor. Start the threads for running the canopen stack.

Parameters:

info –

Returns:

hardware_interface::CallbackReturn

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC std::vector< hardware_interface::StateInterface > export_state_interfaces () override

Export the state interfaces for this system.

The state interface of each cia402 device contains the following:

  • Position

  • Velocity

Returns:

std::vector<hardware_interface::StateInterface>

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC std::vector< hardware_interface::CommandInterface > export_command_interfaces () override

Export the command interfaces for this system.

The command interface of each cia402 device contains the following:

  • Position

  • Velocity

  • Effort

  • Operation Mode

  • Init Command

  • Halt Command

  • Recover Command

Returns:

std::vector<hardware_interface::CommandInterface>

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override

Cleanup the hardware interface.

Parameters:

previous_state –

Returns:

hardware_interface::CallbackReturn

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_shutdown (const rclcpp_lifecycle::State &previous_state) override

Shutdown the hardware interface.

Parameters:

previous_state –

Returns:

hardware_interface::CallbackReturn

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

Activate the hardware interface.

Parameters:

previous_state –

Returns:

hardware_interface::CallbackReturn

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

Deactivate the hardware interface.

Parameters:

previous_state –

Returns:

hardware_interface::CallbackReturn

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::return_type read (const rclcpp::Time &time, const rclcpp::Duration &period) override

Read the state from the hardware interface.

Returns:

hardware_interface::return_type

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::return_type write (const rclcpp::Time &time, const rclcpp::Duration &period) override

Write the command to the hardware interface.

Returns:

hardware_interface::return_type

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::return_type perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) override

Protected Attributes

std::shared_ptr<ros2_canopen::DeviceContainer> device_container_
std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_
std::vector<Cia402Data> robot_motor_data_
std::string bus_config_
std::string master_config_
std::string master_bin_
std::string can_interface_
std::unique_ptr<std::thread> spin_thread_
std::unique_ptr<std::thread> init_thread_
rclcpp::Logger robot_system_logger = rclcpp::get_logger("robot_system")