C++ API

Class Hierarchy

• • Namespace kuka_drivers_core
    • Struct ParameterSetAccessRights
    • Class ControllerHandler
      • Struct ControllerHandler::ControllerTypes
    • Class ParameterHandler
      • Template Class ParameterHandler::Parameter
      • Class ParameterHandler::ParameterBase
    • Class ROS2BaseLCNode
    • Class ROS2BaseNode
    • Enum ControllerType
    • Enum ControlMode
    • Enum HardwareEvent

File Hierarchy

• • Directory include
    • Directory communication_helpers
      • File ros2_control_tools.hpp
      • File service_tools.hpp
    • Directory kuka_drivers_core
      • File control_mode.hpp
      • File controller_handler.hpp
      • File controller_names.hpp
      • File hardware_event.hpp
      • File hardware_interface_types.hpp
      • File parameter_handler.hpp
      • File ros2_base_lc_node.hpp
      • File ros2_base_node.hpp

Full C++ API

Namespaces

• Namespace hardware_interface

• Namespace kuka_drivers_core

• Namespace rclcpp

• Namespace rclcpp_lifecycle

Classes and Structs

• Struct ControllerHandler::ControllerTypes

• Struct ParameterSetAccessRights

• Class ControllerHandler

• Class ParameterHandler

• Template Class ParameterHandler::Parameter

• Class ParameterHandler::ParameterBase

• Class ROS2BaseLCNode

• Class ROS2BaseNode

Enums

• Enum ControllerType

• Enum ControlMode

• Enum HardwareEvent

Functions

• Function kuka_drivers_core::changeControllerState

• Function kuka_drivers_core::changeHardwareState

• Template Function kuka_drivers_core::sendRequest

• Template Function kuka_drivers_core::wait_for_result

Variables

• Variable hardware_interface::COMMAND_MODE

• Variable hardware_interface::CONFIG_PREFIX

• Variable hardware_interface::CONNECTION_QUALITY

• Variable hardware_interface::CONTROL_MODE

• Variable hardware_interface::DRIVE_STATE

• Variable hardware_interface::FRI_STATE_PREFIX

• Variable hardware_interface::HW_IF_DAMPING

• Variable hardware_interface::HW_IF_EXTERNAL_TORQUE

• Variable hardware_interface::HW_IF_STIFFNESS

• Variable hardware_interface::IO_PREFIX

• Variable hardware_interface::OPERATION_MODE

• Variable hardware_interface::OVERLAY_TYPE

• Variable hardware_interface::RECEIVE_MULTIPLIER

• Variable hardware_interface::SAFETY_STATE

• Variable hardware_interface::SEND_PERIOD

• Variable hardware_interface::SERVER_STATE

• Variable hardware_interface::SESSION_STATE

• Variable hardware_interface::STATE_PREFIX

• Variable hardware_interface::TRACKING_PERFORMANCE

• Variable kuka_drivers_core::CONTROL_MODE_HANDLER

• Variable kuka_drivers_core::EVENT_BROADCASTER

• Variable kuka_drivers_core::FRI_CONFIGURATION_CONTROLLER

• Variable kuka_drivers_core::FRI_STATE_BROADCASTER

• Variable kuka_drivers_core::JOINT_GROUP_IMPEDANCE_CONTROLLER

• Variable kuka_drivers_core::JOINT_STATE_BROADCASTER

• Variable kuka_drivers_core::JOINT_TRAJECTORY_CONTROLLER

Directories

• Directory include

• Directory communication_helpers

• Directory kuka_drivers_core

Files

• File control_mode.hpp

• File controller_handler.hpp

• File controller_names.hpp

• File hardware_event.hpp

• File hardware_interface_types.hpp

• File parameter_handler.hpp

• File ros2_base_lc_node.hpp

• File ros2_base_node.hpp

• File ros2_control_tools.hpp

• File service_tools.hpp