controller_manager_plugin.cpp File Reference

#include <moveit/macros/class_forward.hpp>
#include <moveit/utils/rclcpp_utils.hpp>
#include <moveit_ros_control_interface/ControllerHandle.hpp>
#include <moveit/controller_manager/controller_manager.hpp>
#include <controller_manager_msgs/srv/list_controllers.hpp>
#include <controller_manager_msgs/srv/switch_controller.hpp>
#include <pluginlib/class_list_macros.hpp>
#include <pluginlib/class_loader.hpp>
#include <boost/bimap.hpp>
#include <boost/bimap/unordered_multiset_of.hpp>
#include <rclcpp/client.hpp>
#include <rclcpp/duration.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/parameter_value.hpp>
#include <rclcpp/time.hpp>
#include <map>
#include <memory>
#include <queue>
#include <moveit/utils/logger.hpp>

Include dependency graph for controller_manager_plugin.cpp:

Go to the source code of this file.

Classes
class	moveit_ros_control_interface::Ros2ControlManager
	moveit_controller_manager::Ros2ControlManager sub class that interfaces one ros_control controller_manager instance. All services and names are relative to ns_. More...
class	moveit_ros_control_interface::Ros2ControlMultiManager
	Ros2ControlMultiManager discovers all running ros_control node and delegates member function to the corresponding Ros2ControlManager instances. More...

Namespaces
namespace	moveit_ros_control_interface

Functions
std::string	moveit_ros_control_interface::parseJointNameFromResource (const std::string &claimed_interface)
	Get joint name from resource name reported by ros2_control, since claimed_interfaces return by ros2_control will have the interface name as suffix joint_name/INTERFACE_TYPE.
void	moveit_ros_control_interface::deconflictControllerActivationLists (std::vector< std::string > &activate_controllers, std::vector< std::string > &deactivate_controllers)
	Modifies controller activation/deactivation lists to conform to ROS 2 control expectations. \detail Activation/deactivation is expected to be disjoint. For example, if controller B is a dependency of A (A chains to B) but controller B is also a dependency of C (B chains to B), then the switch from A->B to C->B would cause B to be in both the activation and deactivate list. This causes ROS 2 control to throw an error and reject the switch. This function adds the logic needed to avoid this from happening.
	moveit_ros_control_interface::MOVEIT_CLASS_FORWARD (Ros2ControlManager)
	PLUGINLIB_EXPORT_CLASS (moveit_ros_control_interface::Ros2ControlManager, moveit_controller_manager::MoveItControllerManager)
	PLUGINLIB_EXPORT_CLASS (moveit_ros_control_interface::Ros2ControlMultiManager, moveit_controller_manager::MoveItControllerManager)

Function Documentation

PLUGINLIB_EXPORT_CLASS() [1/2]

PLUGINLIB_EXPORT_CLASS	(	moveit_ros_control_interface::Ros2ControlManager	,
		moveit_controller_manager::MoveItControllerManager
	)

PLUGINLIB_EXPORT_CLASS() [2/2]

PLUGINLIB_EXPORT_CLASS	(	moveit_ros_control_interface::Ros2ControlMultiManager	,
		moveit_controller_manager::MoveItControllerManager
	)