moveit_controller_manager::Ros2ControlManager sub class that interfaces one ros_control controller_manager instance. All services and names are relative to ns_. More...

Inheritance diagram for moveit_ros_control_interface::Ros2ControlManager:

[legend]

Collaboration diagram for moveit_ros_control_interface::Ros2ControlManager:

[legend]

Public Member Functions
	Ros2ControlManager ()
	The default constructor. Reads the namespace from ~ros_control_namespace param and defaults to /.

	Ros2ControlManager (const std::string &ns)
	Configure interface with namespace.

void	initialize (const rclcpp::Node::SharedPtr &node) override

moveit_controller_manager::MoveItControllerHandlePtr	getControllerHandle (const std::string &name) override
	Find and return the pre-allocated handle for the given controller.

void	getControllersList (std::vector< std::string > &names) override
	Refresh controller list and output all managed controllers.

void	getActiveControllers (std::vector< std::string > &names) override
	Refresh controller list and output all active, managed controllers.

void	getControllerJoints (const std::string &name, std::vector< std::string > &joints) override
	Read interface names required by each controller from the cached controller state info.

ControllerState	getControllerState (const std::string &name) override
	Refresh controller state and output the state of the given one, only active_ will be set.

bool	switchControllers (const std::vector< std::string > &activate_base, const std::vector< std::string > &deactivate_base) override
	Filter lists for managed controller and computes switching set. Stopped list might be extended by unsupported controllers that claim needed resources.

bool	fixChainedControllers (std::shared_ptr< controller_manager_msgs::srv::ListControllers::Response > &result)
	fixChainedControllers modifies ListControllers service response if it contains chained controllers. Since chained controllers cannot be written to directly, they are removed from the response and their interfaces are propagated back to the first controller with a non-chained input

Public Member Functions inherited from moveit_controller_manager::MoveItControllerManager
	MoveItControllerManager ()
	Default constructor. This needs to have no arguments so that the plugin system can construct the object.

virtual	~MoveItControllerManager ()

Detailed Description

moveit_controller_manager::Ros2ControlManager sub class that interfaces one ros_control controller_manager instance. All services and names are relative to ns_.

Definition at line 94 of file controller_manager_plugin.cpp.

Constructor & Destructor Documentation

◆ Ros2ControlManager() [1/2]

moveit_ros_control_interface::Ros2ControlManager::Ros2ControlManager ( )

inline

The default constructor. Reads the namespace from ~ros_control_namespace param and defaults to /.

Definition at line 249 of file controller_manager_plugin.cpp.

◆ Ros2ControlManager() [2/2]

moveit_ros_control_interface::Ros2ControlManager::Ros2ControlManager ( const std::string & ns )

inline

Configure interface with namespace.

Parameters

ns	namespace of ros_control node (without /controller_manager/)

Definition at line 258 of file controller_manager_plugin.cpp.

Member Function Documentation

◆ fixChainedControllers()

bool moveit_ros_control_interface::Ros2ControlManager::fixChainedControllers ( std::shared_ptr< controller_manager_msgs::srv::ListControllers::Response > & result )

inline

fixChainedControllers modifies ListControllers service response if it contains chained controllers. Since chained controllers cannot be written to directly, they are removed from the response and their interfaces are propagated back to the first controller with a non-chained input

Definition at line 503 of file controller_manager_plugin.cpp.

◆ getActiveControllers()

void moveit_ros_control_interface::Ros2ControlManager::getActiveControllers ( std::vector< std::string > & names )

inlineoverridevirtual

Refresh controller list and output all active, managed controllers.

Parameters

[out] names list of controllers (with namespace)

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 328 of file controller_manager_plugin.cpp.

◆ getControllerHandle()

moveit_controller_manager::MoveItControllerHandlePtr moveit_ros_control_interface::Ros2ControlManager::getControllerHandle ( const std::string & name )

inlineoverridevirtual

Find and return the pre-allocated handle for the given controller.

Parameters

name

Returns

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 297 of file controller_manager_plugin.cpp.

◆ getControllerJoints()

void moveit_ros_control_interface::Ros2ControlManager::getControllerJoints	(	const std::string &	name,
		std::vector< std::string > &	joints
	)

inlineoverridevirtual

Read interface names required by each controller from the cached controller state info.

Parameters

[in]	name	name of controller (with namespace)
[out]	joints

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 346 of file controller_manager_plugin.cpp.

◆ getControllersList()

void moveit_ros_control_interface::Ros2ControlManager::getControllersList ( std::vector< std::string > & names )

inlineoverridevirtual

Refresh controller list and output all managed controllers.

Parameters

[out] names list of controllers (with namespace)

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 312 of file controller_manager_plugin.cpp.

◆ getControllerState()

ControllerState moveit_ros_control_interface::Ros2ControlManager::getControllerState ( const std::string & name )

inlineoverridevirtual

Refresh controller state and output the state of the given one, only active_ will be set.

Parameters

[in] name name of controller (with namespace)

Returns: state

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 364 of file controller_manager_plugin.cpp.

◆ initialize()

void moveit_ros_control_interface::Ros2ControlManager::initialize ( const rclcpp::Node::SharedPtr & node )

inlineoverridevirtual

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 264 of file controller_manager_plugin.cpp.

◆ switchControllers()

bool moveit_ros_control_interface::Ros2ControlManager::switchControllers	(	const std::vector< std::string > &	activate_base,
		const std::vector< std::string > &	deactivate_base
	)

inlineoverridevirtual

Filter lists for managed controller and computes switching set. Stopped list might be extended by unsupported controllers that claim needed resources.

Parameters

activate	vector of controllers to be activated
deactivate	vector of controllers to be deactivated

Returns: true if switching succeeded

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 385 of file controller_manager_plugin.cpp.

The documentation for this class was generated from the following file:

moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Ros2ControlManager() [1/2]

◆ Ros2ControlManager() [2/2]

Member Function Documentation

◆ fixChainedControllers()

◆ getActiveControllers()

◆ getControllerHandle()

◆ getControllerJoints()

◆ getControllersList()

◆ getControllerState()

◆ initialize()

◆ switchControllers()