moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Classes | Functions
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  GripperControllerAllocator
 Simple allocator for moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle instances. More...
 
class  JointTrajectoryControllerAllocator
 Simple allocator for moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle 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.
 
 MOVEIT_CLASS_FORWARD (Ros2ControlManager)
 

Function Documentation

◆ 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_interfaceclaimed 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.