Class RpGpioController

• Defined in File rp_gpio_controller.hpp

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterface

Class Documentation

class RpGpioController : public controller_interface::ControllerInterface

Public Functions

RP_CONTROLLER_PUBLIC RpGpioController() = default

Construct a new ‘RpGpioController’ object.

RP_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_init () override

Initialize the controller.

RP_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

Configure the controller.

Parameters:

previous_state – Previous state of the controller.

RP_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

Activate the controller.

Parameters:

previous_state – Previous state of the controller.

RP_CONTROLLER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

Deactivate the controller.

Parameters:

previous_state – Previous state of the controller.

RP_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

Construct ‘InterfaceConfiguration’ object for the command interfaces.

RP_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

Construct ‘InterfaceConfiguration’ object for the state interfaces.

RP_CONTROLLER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override

Controller loop update.

Parameters:

• time – Current time.

• period – Time elapsed since the last update.

Protected Attributes

std::unordered_map<std::string, rclcpp::ServiceBase::SharedPtr> command_services_

Service pointers for command interfaces.

std::unordered_map<std::string, rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr> state_publishers_

Publisher pointers for state interfaces.

std::shared_ptr<rp_gpio_controller::ParamListener> param_listener_

Parameters listener pointer.

rp_gpio_controller::Params params_

Parameters for the controller.