Class GazeboSystemInterface

Defined in File gazebo_system_interface.hpp

Inheritance Relationships

Base Type

public hardware_interface::SystemInterface

Derived Type

public gazebo_ros2_control::GazeboSystem (Class GazeboSystem)

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_