Class SpeedScalingStateBroadcaster

• Defined in File speed_scaling_state_broadcaster.hpp

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterface

Class Documentation

class SpeedScalingStateBroadcaster : public controller_interface::ControllerInterface

Public Functions

SpeedScalingStateBroadcaster()

controller_interface::InterfaceConfiguration command_interface_configuration() const override

controller_interface::InterfaceConfiguration state_interface_configuration() const override

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

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

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

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

controller_interface::CallbackReturn on_init() override

Protected Attributes

std::vector<std::string> sensor_names_

double publish_rate_

std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Float64>> speed_scaling_state_publisher_

std_msgs::msg::Float64 speed_scaling_state_msg_

std::shared_ptr<speed_scaling_state_broadcaster::ParamListener> param_listener_

speed_scaling_state_broadcaster::Params params_