Class ControllerManager

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class ControllerManager : public rclcpp::Node

Public Functions

CONTROLLER_MANAGER_PUBLIC ControllerManager(std::unique_ptr<hardware_interface::ResourceManager> resource_manager, std::shared_ptr<rclcpp::Executor> executor, const std::string &manager_node_name = "controller_manager", const std::string &node_namespace = "", const rclcpp::NodeOptions &options = get_cm_node_options())
CONTROLLER_MANAGER_PUBLIC ControllerManager(std::shared_ptr<rclcpp::Executor> executor, const std::string &manager_node_name = "controller_manager", const std::string &node_namespace = "", const rclcpp::NodeOptions &options = get_cm_node_options())
CONTROLLER_MANAGER_PUBLIC ControllerManager(std::shared_ptr<rclcpp::Executor> executor, const std::string &urdf, bool activate_all_hw_components, const std::string &manager_node_name = "controller_manager", const std::string &node_namespace = "", const rclcpp::NodeOptions &options = get_cm_node_options())
virtual CONTROLLER_MANAGER_PUBLIC ~ControllerManager() = default
CONTROLLER_MANAGER_PUBLIC void robot_description_callback (const std_msgs::msg::String &msg)
CONTROLLER_MANAGER_PUBLIC void init_resource_manager (const std::string &robot_description)
CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceBaseSharedPtr load_controller (const std::string &controller_name, const std::string &controller_type)
CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceBaseSharedPtr load_controller (const std::string &controller_name)

load_controller loads a controller by name, the type must be defined in the parameter server.

See also

Documentation in controller_manager_msgs/LoadController.srv

Parameters:

controller_name – [in] as a string.

Returns:

controller

CONTROLLER_MANAGER_PUBLIC controller_interface::return_type unload_controller (const std::string &controller_name)
CONTROLLER_MANAGER_PUBLIC std::vector< ControllerSpec > get_loaded_controllers () const
template<typename T, typename std::enable_if<std::is_convertible<T*, controller_interface::ControllerInterfaceBase*>::value, T>::type* = nullptr>
inline controller_interface::ControllerInterfaceBaseSharedPtr add_controller(std::shared_ptr<T> controller, const std::string &controller_name, const std::string &controller_type)
inline controller_interface::ControllerInterfaceBaseSharedPtr add_controller(const ControllerSpec &controller_spec)
CONTROLLER_MANAGER_PUBLIC controller_interface::return_type configure_controller (const std::string &controller_name)

configure_controller Configure controller by name calling their “configure” method.

See also

Documentation in controller_manager_msgs/ConfigureController.srv

Parameters:

controller_name – [in] as a string.

Returns:

configure controller response

CONTROLLER_MANAGER_PUBLIC controller_interface::return_type switch_controller (const std::vector< std::string > &activate_controllers, const std::vector< std::string > &deactivate_controllers, int strictness, bool activate_asap=kWaitForAllResources, const rclcpp::Duration &timeout=rclcpp::Duration::from_nanoseconds(kInfiniteTimeout))

switch_controller Deactivates some controllers and activates others.

See also

Documentation in controller_manager_msgs/SwitchController.srv

Parameters:

  • activate_controllers – [in] is a list of controllers to activate.

  • deactivate_controllers – [in] is a list of controllers to deactivate.

  • set – [in] level of strictness (BEST_EFFORT or STRICT)

CONTROLLER_MANAGER_PUBLIC void read (const rclcpp::Time &time, const rclcpp::Duration &period)

Read values to state interfaces.

Read current values from hardware to state interfaces. The method called in the (real-time) control loop.

Parameters:

  • time – [in] The time at the start of this control loop iteration

  • period – [in] The measured period of the last control loop iteration

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

Run update on controllers.

Call update of all controllers. The method called in the (real-time) control loop.

Parameters:

  • time – [in] The time at the start of this control loop iteration

  • period – [in] The measured period of the last control loop iteration

CONTROLLER_MANAGER_PUBLIC void write (const rclcpp::Time &time, const rclcpp::Duration &period)

Write values from command interfaces.

Write values from command interface into hardware. The method called in the (real-time) control loop.

Parameters:

  • time – [in] The time at the start of this control loop iteration

  • period – [in] The measured period of the last control loop iteration

inline CONTROLLER_MANAGER_PUBLIC bool is_resource_manager_initialized () const

Deterministic (real-time safe) callback group, e.g., update function.

Deterministic (real-time safe) callback group for the update function. Default behavior is read hardware, update controller and finally write new values to the hardware. Interface for external components to check if Resource Manager is initialized. Checks if components in Resource Manager are loaded and initialized.

Returns:

true if they are initialized, false otherwise.

CONTROLLER_MANAGER_PUBLIC unsigned int get_update_rate () const

Update rate of the main control loop in the controller manager.

Update rate of the main control loop in the controller manager. The method is used for per-controller update rate support.

Returns:

update rate of the controller manager.

CONTROLLER_MANAGER_PUBLIC void shutdown_async_controllers_and_components ()

Deletes all async controllers and components.

Needed to join the threads immediately after the control loop is ended to avoid unnecessary iterations. Otherwise the threads will be joined only when the controller manager gets destroyed.

Public Static Attributes

static constexpr bool kWaitForAllResources = false
static constexpr auto kInfiniteTimeout = 0

Protected Functions

CONTROLLER_MANAGER_PUBLIC void init_services ()
CONTROLLER_MANAGER_PUBLIC controller_interface::ControllerInterfaceBaseSharedPtr add_controller_impl (const ControllerSpec &controller)
CONTROLLER_MANAGER_PUBLIC void manage_switch ()
CONTROLLER_MANAGER_PUBLIC void deactivate_controllers (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_deactivate)

Deactivate chosen controllers from real-time controller list.

Deactivate controllers with names controllers_to_deactivate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

Parameters:

  • rt_controller_list – [in] controllers in the real-time list.

  • controllers_to_deactivate – [in] names of the controller that have to be deactivated.

CONTROLLER_MANAGER_PUBLIC void switch_chained_mode (const std::vector< std::string > &chained_mode_switch_list, bool to_chained_mode)

Switch chained mode for all the controllers with respect to the following cases:

  • a preceding controller is getting activated –> switch controller to chained mode;

  • all preceding controllers are deactivated –> switch controller from chained mode.

Parameters:

  • chained_mode_switch_list – [in] list of controller to switch chained mode.

  • to_chained_mode – [in] flag if controller should be switched to or from chained mode.

CONTROLLER_MANAGER_PUBLIC void activate_controllers (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_activate)

Activate chosen controllers from real-time controller list.

Activate controllers with names controllers_to_activate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

Parameters:

  • rt_controller_list – [in] controllers in the real-time list.

  • controllers_to_activate – [in] names of the controller that have to be activated.

CONTROLLER_MANAGER_PUBLIC void activate_controllers_asap (const std::vector< ControllerSpec > &rt_controller_list, const std::vector< std::string > controllers_to_activate)

Activate chosen controllers from real-time controller list.

Activate controllers with names controllers_to_activate from list rt_controller_list. The controller list will be iterated as many times as there are controller names.

NOTE: There is currently not difference to activate_controllers method. Check https://github.com/ros-controls/ros2_control/issues/263 for more information.

Parameters:

  • rt_controller_list – [in] controllers in the real-time list.

  • controllers_to_activate – [in] names of the controller that have to be activated.

CONTROLLER_MANAGER_PUBLIC void list_controllers_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllers::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllers::Response > response)
CONTROLLER_MANAGER_PUBLIC void list_hardware_interfaces_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListHardwareInterfaces::Response > response)
CONTROLLER_MANAGER_PUBLIC void load_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::LoadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::LoadController::Response > response)
CONTROLLER_MANAGER_PUBLIC void configure_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Request > request, std::shared_ptr< controller_manager_msgs::srv::ConfigureController::Response > response)
CONTROLLER_MANAGER_PUBLIC void reload_controller_libraries_service_cb (const std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Request > request, std::shared_ptr< controller_manager_msgs::srv::ReloadControllerLibraries::Response > response)
CONTROLLER_MANAGER_PUBLIC void switch_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::SwitchController::Request > request, std::shared_ptr< controller_manager_msgs::srv::SwitchController::Response > response)
CONTROLLER_MANAGER_PUBLIC void unload_controller_service_cb (const std::shared_ptr< controller_manager_msgs::srv::UnloadController::Request > request, std::shared_ptr< controller_manager_msgs::srv::UnloadController::Response > response)
CONTROLLER_MANAGER_PUBLIC void list_controller_types_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListControllerTypes::Response > response)
CONTROLLER_MANAGER_PUBLIC void list_hardware_components_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::ListHardwareComponents::Request > request, std::shared_ptr< controller_manager_msgs::srv::ListHardwareComponents::Response > response)
CONTROLLER_MANAGER_PUBLIC void set_hardware_component_state_srv_cb (const std::shared_ptr< controller_manager_msgs::srv::SetHardwareComponentState::Request > request, std::shared_ptr< controller_manager_msgs::srv::SetHardwareComponentState::Response > response)

Protected Attributes

unsigned int update_loop_counter_ = 0
unsigned int update_rate_ = 100
std::vector<std::vector<std::string>> chained_controllers_configuration_
std::unique_ptr<hardware_interface::ResourceManager> resource_manager_