Class RpVacuumGripperController

• Defined in File rp_vacuum_gripper_controller.hpp

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterface

Class Documentation

class RpVacuumGripperController : public controller_interface::ControllerInterface

Public Functions

RP_CONTROLLER_PUBLIC RpVacuumGripperController() = default

Construct a new ‘RpVacuumGripperController’ 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 Functions

inline auto FindInterface(auto &interfaces, const auto &name)

void SetCommand(const std::string &name, const bool value)

bool GetState(const std::string &name)

rclcpp_action::GoalResponse HandleGoal(const rclcpp_action::GoalUUID &uuid, GripperCommandActionGoalPtr goal)

rclcpp_action::CancelResponse HandleCancel(const GripperCommandActionServerGoalHandlePtr goal_handle)

void HandleAccepted(const GripperCommandActionServerGoalHandlePtr goal_handle)

void Execute(const GripperCommandActionServerGoalHandlePtr goal_handle)

void PublishFeedback(const GripperCommandActionServerGoalHandlePtr goal_handle)

Protected Attributes

std::mutex current_goal_execution_mtx_

GripperCommandActionServerGoalHandlePtr current_goal_handle_

GripperCommandActionServerPtr gripper_command_action_server_

Action server for the gripper command.

std::shared_ptr<rp_vacuum_gripper_controller::ParamListener> param_listener_

Parameters listener pointer.

rp_vacuum_gripper_controller::Params params_

Parameters for the controller.