moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Ros2ControlMultiManager discovers all running ros_control node and delegates member function to the corresponding Ros2ControlManager instances. More...
Public Member Functions | |
moveit_controller_manager::MoveItControllerHandlePtr | getControllerHandle (const std::string &name) override |
Find appropriate interface and delegate handle creation. | |
void | getControllersList (std::vector< std::string > &names) override |
Read all managed controllers from discovered interfaces. | |
void | getActiveControllers (std::vector< std::string > &names) override |
Read all active, managed controllers from discovered interfaces. | |
void | getControllerJoints (const std::string &name, std::vector< std::string > &joints) override |
Find appropriate interface and delegate joints query. | |
ControllerState | getControllerState (const std::string &name) override |
Find appropriate interface and delegate state query. | |
bool | switchControllers (const std::vector< std::string > &activate, const std::vector< std::string > &deactivate) override |
delegates switch to all known interfaces. Stops on first failing switch. | |
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MoveItControllerManager () | |
Default constructor. This needs to have no arguments so that the plugin system can construct the object. | |
virtual | ~MoveItControllerManager () |
Ros2ControlMultiManager discovers all running ros_control node and delegates member function to the corresponding Ros2ControlManager instances.
Definition at line 538 of file controller_manager_plugin.cpp.
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inlineoverridevirtual |
Read all active, managed controllers from discovered interfaces.
names |
Implements moveit_controller_manager::MoveItControllerManager.
Definition at line 635 of file controller_manager_plugin.cpp.
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inlineoverridevirtual |
Find appropriate interface and delegate handle creation.
name |
Implements moveit_controller_manager::MoveItControllerManager.
Definition at line 602 of file controller_manager_plugin.cpp.
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inlineoverridevirtual |
Find appropriate interface and delegate joints query.
name | |
joints |
Implements moveit_controller_manager::MoveItControllerManager.
Definition at line 652 of file controller_manager_plugin.cpp.
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inlineoverridevirtual |
Read all managed controllers from discovered interfaces.
names |
Implements moveit_controller_manager::MoveItControllerManager.
Definition at line 619 of file controller_manager_plugin.cpp.
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inlineoverridevirtual |
Find appropriate interface and delegate state query.
name |
Implements moveit_controller_manager::MoveItControllerManager.
Definition at line 669 of file controller_manager_plugin.cpp.
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inlineoverridevirtual |
delegates switch to all known interfaces. Stops on first failing switch.
activate | vector of controllers to be activated |
deactivate | vector of controllers to be deactivated |
Implements moveit_controller_manager::MoveItControllerManager.
Definition at line 688 of file controller_manager_plugin.cpp.