moveit_ros_control_interface Namespace Reference

Classes
class	ControllerHandleAllocator
class	EmptyControllerAllocator
	This class allows MoveIt's controller manager to start and stop a controller that does not have a corresponding controller handle implementation without actually executing MoveIt trajectories through the controller handle. More...
class	GripperCommandControllerAllocator
	Simple allocator for moveit_simple_controller_manager::GripperCommandControllerHandle instances. More...
class	JointTrajectoryControllerAllocator
	Simple allocator for moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle instances. More...
class	ParallelGripperCommandControllerAllocator
	Simple allocator for moveit_simple_controller_manager::ParallelGripperCommandControllerHandle instances. More...
class	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	Ros2ControlMultiManager
	Ros2ControlMultiManager discovers all running ros_control node and delegates member function to the corresponding Ros2ControlManager instances. More...

Functions
	MOVEIT_CLASS_FORWARD (ControllerHandleAllocator)
std::string	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	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_CLASS_FORWARD (Ros2ControlManager)

Function Documentation

deconflictControllerActivationLists()

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.

Parameters

[in]	activate_controllers	controllers to activate
[in]	deactivate_controllers	controllers to deactivate

Definition at line 95 of file controller_manager_plugin.cpp.

Here is the caller graph for this function:

MOVEIT_CLASS_FORWARD() [1/2]

moveit_ros_control_interface::MOVEIT_CLASS_FORWARD

(

ControllerHandleAllocator

)

MOVEIT_CLASS_FORWARD() [2/2]

moveit_ros_control_interface::MOVEIT_CLASS_FORWARD

(

Ros2ControlManager

)

parseJointNameFromResource()

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.

Parameters

[in]

claimed_interface

claimed interface as joint_name/INTERFACE_TYPE

Returns

joint_name part of the /p claimed_interface

Definition at line 78 of file controller_manager_plugin.cpp.