Class GazeboSimSystem

Inheritance Relationships

public gz_ros2_control::GazeboSimSystemInterface (Class GazeboSimSystemInterface)

class GazeboSimSystem : public gz_ros2_control::GazeboSimSystemInterface 

Public Functions

CallbackReturn on_init(const hardware_interface::HardwareInfo &system_info) override

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

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

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

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

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

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

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

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

virtual bool initSim(rclcpp::Node::SharedPtr &model_nh, std::map<std::string, sim::Entity> &joints, const hardware_interface::HardwareInfo &hardware_info, sim::EntityComponentManager &_ecm, unsigned int update_rate) override: Initialize the system interface param[in] model_nh Pointer to the ros2 node param[in] joints Map with the name of the joint as the key and the value is related with the entity in Gazebo param[in] hardware_info structure with data from URDF. param[in] _ecm Entity-component manager. param[in] update_rate controller update rate.