id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
value |
|---|---|---|
hardware_control/resourcemanagercpp_120.txt | // CM API: Called in "callback/slow"-thread
return_type ResourceManager::set_component_state(
const std::string & component_name, rclcpp_lifecycle::State & target_state)
{
using lifecycle_msgs::msg::State;
using std::placeholders::_1;
using std::placeholders::_2; | |
hardware_control/resourcemanagercpp_136.txt | return read_write_status;
} | |
hardware_control/resourcemanagercpp_138.txt | size_t ResourceManager::sensor_components_size() const
{
return resource_storage_->sensors_.size();
} | |
hardware_control/20211WRMeetupGetting_3.txt | Have fun!
Use-cases from wilderness - ros2_control + MoveIt2
Use-cases from wilderness
● UR driver: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
○ The first open-source driver with ros2_control integration
○ Needs special features:
■ Digital and analog inputs and outputs
■ General robot operation: un... | |
hardware_control/resourcemanagercpp_59.txt | // hardware plugins
pluginlib::ClassLoader<ActuatorInterface> actuator_loader_;
pluginlib::ClassLoader<SensorInterface> sensor_loader_;
pluginlib::ClassLoader<SystemInterface> system_loader_; | |
hardware_control/1240_25.txt |  **[
saikishor ](/saikishor) ** Mar 17, 2024
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### Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. [ Learn more
](https://docs.github.com/articles/mana... | |
hardware_control/resourcemanagercpp_63.txt | /// Mapping between hardware and controllers that are using it (accessing data from it)
std::unordered_map<std::string, std::vector<std::string>> hardware_used_by_controllers_; | |
hardware_control/25749_23.txt | [ pbnpama ](https://get-help.theconstruct.ai/u/pbnpama) August 9, 2023,
8:12am 3 | |
hardware_control/resourcemanagercpp_40.txt | return result;
} | |
hardware_control/25749_10.txt | joint_ids_[i] = std::stoi(info_.joints[i].parameters.at("id"));
joints_[i].state.position = std::numeric_limits<double>::quiet_NaN();
joints_[i].state.velocity = std::numeric_limits<double>::quiet_NaN();
joints_[i].state.effort = std::numeric_limits<double>::quiet_NaN();
joints_[... | |
hardware_control/resourcemanagercpp_13.txt | template <class HardwareT>
bool initialize_hardware(const HardwareInfo & hardware_info, HardwareT & hardware)
{
RCUTILS_LOG_INFO_NAMED(
"resource_manager", "Initialize hardware '%s' ", hardware_info.name.c_str()); | |
hardware_control/25749_32.txt | In file included from /opt/ros/foxy/include/class_loader/class_loader_core.hpp:57,
from /opt/ros/foxy/include/class_loader/class_loader.hpp:55,
from /opt/ros/foxy/include/pluginlib/class_list_macros.hpp:40,
from /home/tharit/moonbot_ws/src/dynamixel_har... | |
hardware_control/resourcemanagercpp_15.txt | bool result = new_state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED; | |
hardware_control/25749_22.txt | The course has been developed and tested on a specific environment (for
instance, this course is in ROS2 Galactic). So, trying it outside the course
environment might not work directly. Unfortunately, it’s impossible for us to
provide support for each specific local environment (every student has a
different local envi... | |
hardware_control/25749_35.txt | [ system ](https://get-help.theconstruct.ai/u/system) Closed August 16,
2023, 8:21am 5 | |
hardware_control/25749_8.txt | Here is the .cpp code | |
hardware_control/resourcemanagercpp_42.txt | template <class HardwareT>
void import_command_interfaces(HardwareT & hardware)
{
auto interfaces = hardware.export_command_interfaces();
hardware_info_map_[hardware.get_name()].command_interfaces = add_command_interfaces(interfaces);
} | |
hardware_control/resourcemanagercpp_116.txt | // CM API: Called in "update"-thread
bool ResourceManager::perform_command_mode_switch(
const std::vector<std::string> & start_interfaces,
const std::vector<std::string> & stop_interfaces)
{
// When only broadcaster is activated then this lists are empty
if (start_interfaces.empty() && stop_interfaces.empty())
... | |
hardware_control/resourcemanagercpp_131.txt | read_components(resource_storage_->actuators_);
read_components(resource_storage_->sensors_);
read_components(resource_storage_->systems_); | |
hardware_control/classhardwareinterfa_4.txt |  | |
hardware_control/resourcemanagercpp_134.txt | auto write_components = [&](auto & components)
{
for (auto & component : components)
{
auto ret_val = component.write(time, period);
if (ret_val == return_type::ERROR)
{
read_write_status.ok = false;
read_write_status.failed_hardware_names.push_back(component.get_name());
... | |
hardware_control/resourcemanagercpp_4.txt | namespace hardware_interface
{
auto trigger_and_print_hardware_state_transition =
[](
auto transition, const std::string transition_name, const std::string & hardware_name,
const lifecycle_msgs::msg::State::_id_type & target_state)
{
RCUTILS_LOG_INFO_NAMED(
"resource_manager", "'%s' hardware '%s' ", tra... | |
hardware_control/25749_24.txt | Thank you for your answer, I also think that the distro is the main problem.
I’ve tried to edit some part but still error. | |
hardware_control/resourcemanagercpp_68.txt | /// List of async components by type
std::unordered_map<std::string, AsyncComponentThread> async_component_threads_; | |
hardware_control/resourcemanagercpp_23.txt | void remove_all_hardware_interfaces_from_available_list(const std::string & hardware_name)
{
// remove all command interfaces from available list
for (const auto & interface : hardware_info_map_[hardware_name].command_interfaces)
{
auto found_it = std::find(
available_command_interfaces_.b... | |
hardware_control/resourcemanagercpp_5.txt | const rclcpp_lifecycle::State new_state = transition(); | |
hardware_control/classhardwareinterfa_6.txt | Collaboration diagram for hardware_interface::StateInterface: | |
hardware_control/1240_1.txt | * [ Collections ](/collections)
* [ Pricing ](/pricing)
Search or jump to...
# Search code, repositories, users, issues, pull requests...
Search
Clear
[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)
# Provide feedback
We read every piece ... | |
hardware_control/resourcemanagercpp_44.txt | return interface_names;
} | |
hardware_control/resourcemanagercpp_61.txt | std::vector<Actuator> async_actuators_;
std::vector<Sensor> async_sensors_;
std::vector<System> async_systems_; | |
hardware_control/1240_13.txt | controls/ros2_control/pull/1240/files#diff-76f1eebe99a92140f6b3e99d1a250e6a9cca669ecddbcb270c396b603bf16efe)
Show resolved Hide resolved
[ hardware_interface/include/hardware_interface/actuator.hpp ](/ros-
controls/ros2_control/pull/1240/files#diff-
dca572d4721d979c8fb92a36453f69a34a5dd4ae5bf45fb11267269bcfed1212) Out... | |
hardware_control/1240_39.txt | ](/saikishor) [ saikishor ](/saikishor) [ ](/ros-
controls/ros2_control/pull/1240/files/7c07d0c6bf0b677fe0feedd48d5343c5b8e9079a)
saikishor requested changes
[ 
](/destogl) [ destogl ](/destogl) [ ](/ros-
controls/ros2_control/pull/1240/files/e70f43... | |
hardware_control/resourcemanagercpp_64.txt | /// Mapping between controllers and list of reference interfaces they are using
std::unordered_map<std::string, std::vector<std::string>> controllers_reference_interfaces_map_; | |
hardware_control/1240_35.txt | [ 
](/mamueluth)
` [ fix failing tests ](/ros-
controls/ros2_control/pull/1240/commits/c7e2c1af5a850cb583ea60bc57a2e039a43d7746
"fix failing tests") `
` [ c7e2c1a ](/ros-
controls/ros2_control/pull/1240/commits/c7e2c1af5a850cb583ea60bc57a2e039a43d7... | |
hardware_control/classhardwareinterfa_13.txt | * * * | |
hardware_control/20211WRMeetupGetting_1.txt | Basic concepts
Basic Concepts
How to use ros(1)_control?
1. Implement RobotHW (hardware abstraction layer)
a. init(), read(), write()
b. JointStateInterface and [Position|Velocity|Effort]JointInterface
2. Implement a control node
a. Load URDF (“/robot_description” parameter) - usually needed
b. Initialize RobotHW
c. In... | |
hardware_control/resourcemanagercpp_62.txt | std::unordered_map<std::string, HardwareComponentInfo> hardware_info_map_; | |
hardware_control/resourcemanagercpp_19.txt | if (found_it == available_state_interfaces_.end())
{
available_state_interfaces_.emplace_back(interface);
RCUTILS_LOG_DEBUG_NAMED(
"resource_manager", "(hardware '%s'): '%s' state interface added into available list",
hardware.get_name().c_str(), interface.c_s... | |
hardware_control/resourcemanagercpp_117.txt | auto call_perform_mode_switch = [&start_interfaces, &stop_interfaces](auto & components)
{
bool ret = true;
for (auto & component : components)
{
if (
component.get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
component.get_state().id() == lifecycle_msgs::m... | |
hardware_control/resourcemanagercpp_139.txt | size_t ResourceManager::system_components_size() const
{
return resource_storage_->systems_.size();
} | |
hardware_control/resourcemanagercpp_115.txt | return actuators_result && systems_result;
} | |
hardware_control/resourcemanagercpp_79.txt | // CM API: Called in "update"-thread
LoanedStateInterface ResourceManager::claim_state_interface(const std::string & key)
{
if (!state_interface_is_available(key))
{
throw std::runtime_error(std::string("State interface with key '") + key + "' does not exist");
} | |
hardware_control/resourcemanagercpp_132.txt | return read_write_status;
} | |
hardware_control/resourcemanagercpp_96.txt | // CM API: Called in "update"-thread
LoanedCommandInterface ResourceManager::claim_command_interface(const std::string & key)
{
if (!command_interface_is_available(key))
{
throw std::runtime_error(std::string("Command interface with '") + key + "' does not exist");
} | |
hardware_control/resourcemanagercpp_143.txt | // BEGIN: private methods | |
hardware_control/resourcemanagercpp_112.txt | // Check if interfaces are available
std::stringstream ss_not_available;
ss_not_available << "Not available: " << std::endl << "[" << std::endl;
auto check_available = [&](const std::vector<std::string> & list_to_check)
{
bool all_available = true;
for (const auto & interface : list_to_check)
{
... | |
hardware_control/resourcemanagercpp_124.txt | if (target_state.id() == 0)
{
if (target_state.label() == lifecycle_state_names::UNCONFIGURED)
{
target_state = rclcpp_lifecycle::State(
State::PRIMARY_STATE_UNCONFIGURED, lifecycle_state_names::UNCONFIGURED);
}
if (target_state.label() == lifecycle_state_names::INACTIVE)
{
t... | |
hardware_control/resourcemanagercpp_145.txt | for (const auto & hardware : hardware_info)
{
for (const auto & joint : hardware.joints)
{
for (const auto & state_interface : joint.state_interfaces)
{
if (!state_interface_exists(joint.name + "/" + state_interface.name))
{
missing_state_keys.emplace_back(joint.name + ... | |
hardware_control/resourcemanagercpp_89.txt | // CM API: Called in "callback/slow"-thread
void ResourceManager::remove_controller_reference_interfaces(const std::string & controller_name)
{
auto interface_names =
resource_storage_->controllers_reference_interfaces_map_.at(controller_name);
resource_storage_->controllers_reference_interfaces_map_.erase(cont... | |
hardware_control/resourcemanagercpp_88.txt | std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
for (const auto & interface : interface_names)
{
auto found_it = std::find(
resource_storage_->available_command_interfaces_.begin(),
resource_storage_->available_command_interfaces_.end(), interface);
if (found_it != reso... | |
hardware_control/classhardwareinterfa_14.txt | Generated by [  ](https://www.doxygen.org/index.html)
1.9.1 | |
hardware_control/classhardwareinterfa_2.txt | hardware_interface::StateInterface Class Reference | |
hardware_control/resourcemanagercpp_110.txt | auto interfaces_to_string = [&]()
{
std::stringstream ss;
ss << "Start interfaces: " << std::endl << "[" << std::endl;
for (const auto & start_if : start_interfaces)
{
ss << " " << start_if << std::endl;
}
ss << "]" << std::endl;
ss << "Stop interfaces: " << std::endl << "[" << st... | |
hardware_control/25749_13.txt | info_.joints[i].name, hardware_interface::HW_IF_POSITION, &joints_[i].state.position));
state_interfaces.emplace_back(hardware_interface::StateInterface(
info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &joints_[i].state.velocity));
state_interfaces.emplace_back(hardware_int... | |
hardware_control/1240_18.txt | ](/saikishor)
Copy link
Member
###
**[ saikishor ](/saikishor) ** commented Jan 26, 2024 •
edited
> and in my understanding it would be beneficial to have the same ordering of
> the Interfaces in this map as they are defined in the URDF.
Hello [ @mamueluth ](https://github.com/mamueluth) !
is there a specific reason ... | |
hardware_control/25749_3.txt | [ error ](https://get-help.theconstruct.ai/tag/error) , [ ros2 ](https://get-
help.theconstruct.ai/tag/ros2) , [ simulation ](https://get-
help.theconstruct.ai/tag/simulation) | |
hardware_control/1240_8.txt | [ hardware_interface/src/component_parser.cpp ](https://app.codecov.io/gh/ros-
controls/ros2_control/pull/1240?src=pr&el=tree&filepath=hardware_interface%2Fsrc%2Fcomponent_parser.cpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-
controls#diff-aGFyZHdhcmVfaW50ZXJmYWNlL3... | |
hardware_control/classhardwareinterfa_11.txt | The documentation for this class was generated from the following file: | |
hardware_control/resourcemanagercpp_0.txt | // Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by appli... | |
hardware_control/resourcemanagercpp_55.txt | void initialize_sensor(
std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info)
{
auto init_sensors = [&](auto & container)
{
container.emplace_back(Sensor(std::move(sensor)));
if (initialize_hardware(hardware_info, container.back()))
{
import_state_interfa... | |
hardware_control/resourcemanagercpp_37.txt | switch (target_state.id())
{
case State::PRIMARY_STATE_UNCONFIGURED:
switch (hardware.get_state().id())
{
case State::PRIMARY_STATE_UNCONFIGURED:
result = true;
break;
case State::PRIMARY_STATE_INACTIVE:
result = cleanup_hardware(hard... | |
hardware_control/resourcemanagercpp_90.txt | std::scoped_lock guard(resource_interfaces_lock_, claimed_command_interfaces_lock_);
resource_storage_->remove_command_interfaces(interface_names);
} | |
hardware_control/25749_1.txt | # [ Cannot build the dynamixel hardware interface in ros2_control course
](/t/cannot-build-the-dynamixel-hardware-interface-in-ros2-control-
course/25749) | |
hardware_control/1240_20.txt | 
](/mateusmenezes95) [ mateusmenezes95 ](/mateusmenezes95) mentioned this pull
request Feb 1, 2024
[ How to pass additional information to the hardware interface #1016 ](/ros-
controls/ros2_control/issues/1016)
Open
[ ![@destogl](https://a... | |
hardware_control/resourcemanagercpp_109.txt | // CM API: Called in "callback/slow"-thread
bool ResourceManager::prepare_command_mode_switch(
const std::vector<std::string> & start_interfaces,
const std::vector<std::string> & stop_interfaces)
{
// When only broadcaster is activated then this lists are empty
if (start_interfaces.empty() && stop_interfaces.em... | |
hardware_control/resourcemanagercpp_67.txt | /// List of all claimed command interfaces
std::unordered_map<std::string, bool> claimed_command_interface_map_; | |
hardware_control/25749_20.txt | [ albertoezquerro ](https://get-help.theconstruct.ai/u/albertoezquerro)
August 9, 2023, 7:55am 2 | |
hardware_control/1240_6.txt | > differs from pull request most recent head [ ` 1612802 `
> ](https://github.com/ros-
> controls/ros2_control/commit/16128028a351ba0d4b667381419c2fe6e0f55b7e) .
> Consider uploading reports for the commit [ ` 1612802 `
> ](https://github.com/ros-
> controls/ros2_control/commit/16128028a351ba0d4b667381419c2fe6e0f55b7e)... | |
hardware_control/20211WRMeetupGetting_10.txt | using ControllerCommandMsg = control_msgs::msg::JointJog;
…
};
Messages and modifying a controller
controller_interface::return_type RRBotController::update()
{
auto current_command = input_command_.readFromRT();
for (size_t i = 0; i < command_interfaces_.size(); ++i) {
if (!std::isnan((*current_command)->displace... | |
hardware_control/25749_38.txt | Powered by [ Discourse ](https://www.discourse.org) , best viewed with
JavaScript enabled | |
hardware_control/1240_33.txt | "move parsing of interface description to component parser") `
` [ 5635631 ](/ros-
controls/ros2_control/pull/1240/commits/5635631fc6cbd00785eca8e4bc60e971f31caf21)
`
[ 
](/mamueluth)
` [ adjusted actuator- and sensor_interface as well ](/ros-
cont... | |
hardware_control/resourcemanagercpp_33.txt | template <class HardwareT>
bool deactivate_hardware(HardwareT & hardware)
{
bool result = trigger_and_print_hardware_state_transition(
std::bind(&HardwareT::deactivate, &hardware), "deactivate", hardware.get_name(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE); | |
hardware_control/resourcemanagercpp_21.txt | if (found_it == available_command_interfaces_.end())
{
available_command_interfaces_.emplace_back(interface);
RCUTILS_LOG_DEBUG_NAMED(
"resource_manager", "(hardware '%s'): '%s' command interface added into available list",
hardware.get_name().c_str(), interfa... | |
hardware_control/1240_17.txt | over it like so:
for (const auto & [name, descr] : sensor_state_interfaces_) {
set_state(name, <state>)
....
and in my understanding it would be beneficial to have the same ordering of
the Interfaces in this map as they are defined in the URDF.
---
All reactions
Sorry, something wen... | |
hardware_control/20211WRMeetupGetting_2.txt | ○ Hardware interfaces are always plugins with lifecycle
○ A robot-cell can now be created via plug-and-play
Architecture of ros2_control
“Everything is an interface ”
● ∞ number of interface types → control_msgs/DynamicJointState
○ Type-names are freely choosable
○ Standard names: “position”, “velocity”, “acceleration”... | |
hardware_control/1240_7.txt | controls/ros2_control/pull/1240?src=pr&el=tree&filepath=hardware_interface%2Finclude%2Fhardware_interface%2Factuator.hpp&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=ros-
controls#diff-
aGFyZHdhcmVfaW50ZXJmYWNlL2luY2x1ZGUvaGFyZHdhcmVfaW50ZXJmYWNlL2FjdHVhdG9yLmhwcA==)
| ` ... | |
hardware_control/resourcemanagercpp_87.txt | // CM API: Called in "update"-thread
void ResourceManager::make_controller_reference_interfaces_unavailable(
const std::string & controller_name)
{
auto interface_names =
resource_storage_->controllers_reference_interfaces_map_.at(controller_name); | |
hardware_control/resourcemanagercpp_45.txt | /// Removes command interfaces from internal storage.
/**
* Command interface are removed from the maps with theirs storage and their claimed status.
*
* \param[interface_names] list of command interface names to remove from storage.
*/
void remove_command_interfaces(const std::vector<std::string> & i... | |
hardware_control/25749_34.txt | I’m not sure that should I change info_ to info or not. | |
hardware_control/resourcemanagercpp_118.txt | const bool actuators_result = call_perform_mode_switch(resource_storage_->actuators_);
const bool systems_result = call_perform_mode_switch(resource_storage_->systems_); | |
hardware_control/resourcemanagercpp_81.txt | // CM API: Called in "callback/slow"-thread
std::vector<std::string> ResourceManager::state_interface_keys() const
{
std::vector<std::string> keys;
std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
for (const auto & item : resource_storage_->state_interface_map_)
{
keys.push_back(std::... | |
hardware_control/resourcemanagercpp_149.txt | // END: private methods | |
hardware_control/25749_7.txt | 310 | for (uint i = 0; i < info_.joints.size(); ++i) {
| ^~~~~
/home/tharit/ros2_ws/src/dynamixel_hardware_interface/src/dynamixel_hardware_interface.cpp:319:26: error: ‘info_’ was not declared in this scope
319 | for (uint i = 0; i < info_.joints.size(); ++i) ... | |
hardware_control/1240_10.txt | Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Hide
comment
I doubt that we need methods here. The code is not so long, and the import is
used only once. So if we use here import directly, it might be that we even
increase readability.
Sorry, something went wrong.
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Contri... | |
hardware_control/resourcemanagercpp_106.txt | // CM API: Called in "callback/slow"-thread
std::unordered_map<std::string, HardwareComponentInfo> ResourceManager::get_components_status()
{
auto loop_and_get_state = [&](auto & container)
{
for (auto & component : container)
{
resource_storage_->hardware_info_map_[component.get_name()].state = compo... | |
hardware_control/resourcemanagercpp_119.txt | return actuators_result && systems_result;
} | |
hardware_control/resourcemanagercpp_140.txt | bool ResourceManager::command_interface_exists(const std::string & key) const
{
std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
return resource_storage_->command_interface_map_.find(key) !=
resource_storage_->command_interface_map_.end();
} | |
hardware_control/25749_27.txt |
#ifndef DYNAMIXEL_HARDWARE__DYNAMIXEL_HARDWARE_HPP_
#define DYNAMIXEL_HARDWARE__DYNAMIXEL_HARDWARE_HPP_
#include <vector>
#include <map>
#include <hardware_interface/handle.hpp>
#include <hardware_interface/hardware_info.hpp>
#include <hardware_interface/system_interface.... | |
hardware_control/1240_27.txt | ---|---
| std::vector<std::shared_ptr<StateInterface>> interfaces = hardware.
on_export_state_interfaces ();
Shouldn't this be using the method ` on_export_state_interfaces ` ?
Sorry, something went wrong.
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Contributor Author
###
 August 9, 2023,
8:21am 4 | |
hardware_control/1240_36.txt | [ 
](/mamueluth)
` [ merge parser functions ](/ros-
controls/ros2_control/pull/1240/commits/cc1f9752de26ee34173c200270059bf88f2c07fb
"merge parser functions") `
` [ cc1f975 ](/ros-
controls/ros2_control/pull/1240/commits/cc1f9752de26ee34173c2002700... | |
hardware_control/resourcemanagercpp_75.txt | const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
if (load_and_initialize_components)
{
for (const auto & individual_hardware_info : hardware_info)
{
if (individual_hardware_info.type == actuator_type)
{
std::scoped_lock guard(resource_interfaces_l... | |
hardware_control/resourcemanagercpp_101.txt | // CM API: Called in "update"-thread
std::vector<std::string> ResourceManager::available_command_interfaces() const
{
std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
return resource_storage_->available_command_interfaces_;
} | |
hardware_control/resourcemanagercpp_94.txt | // CM API: Called in "update"-thread
bool ResourceManager::command_interface_is_claimed(const std::string & key) const
{
if (!command_interface_is_available(key))
{
return false;
} | |
hardware_control/20211WRMeetupGetting_7.txt | </joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
</ros2_control>
ros2 launch rrbot_bringup rrbot.launch.py
Implementing a forwarding controller
class RRBotControllerArray :... | |
hardware_control/20211WRMeetupGetting_6.txt | if (configure_default(info) != hardware_interface::return_type::OK) {
return hardware_interface::return_type::ERROR;
}
hw_states_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
hw_commands_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
status_ = hardware_interface:... | |
hardware_control/resourcemanagercpp_92.txt | if (found)
{
// check if controller exist already in the list and if not add it
auto controllers = resource_storage_->hardware_used_by_controllers_[hw_name];
auto ctrl_it = std::find(controllers.begin(), controllers.end(), controller_name);
if (ctrl_it == controllers.end())
... | |
hardware_control/resourcemanagercpp_34.txt | if (result)
{
// TODO(destogl): make all command interfaces unavailable that should be present only
// when active (currently are all available) also at inactive
}
return result;
} | |
hardware_control/resourcemanagercpp_35.txt | template <class HardwareT>
bool set_component_state(HardwareT & hardware, const rclcpp_lifecycle::State & target_state)
{
using lifecycle_msgs::msg::State; | |
hardware_control/resourcemanagercpp_56.txt | if (hardware_info.is_async)
{
init_sensors(async_sensors_);
}
else
{
init_sensors(sensors_);
}
} |
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