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JointVelocityController Class

Declaration​

class moveit_pro_controllers::JointVelocityController { ... }

Included Headers​

#include <joint_velocity_controller.hpp>

Base classes​

classcontroller_interface::ControllerInterface
classControllerWithRobotModel

Private Member Typedefs Index​

usingJointVelocityControllerState = moveit_pro_controllers_msgs::msg::JointVelocityControllerState
usingRTStatePublisher = realtime_tools::RealtimePublisher< JointVelocityControllerState >
usingJointJogCommand = control_msgs::msg::JointJog
usingConfigureMsg = moveit_pro_controllers_msgs::srv::ConfigureJointVelocityController

Enumerations Index​

enum classExecutionState { ... }

Public Constructors Index​

JointVelocityController ()

Public Member Functions Index​

controller_interface::InterfaceConfigurationcommand_interface_configuration () const override
controller_interface::InterfaceConfigurationstate_interface_configuration () const override
CallbackReturnon_init () override
CallbackReturnon_configure (const rclcpp_lifecycle::State &previous_state) override
CallbackReturnon_activate (const rclcpp_lifecycle::State &previous_state) override
CallbackReturnon_deactivate (const rclcpp_lifecycle::State &previous_state) override
controller_interface::return_typeupdate (const rclcpp::Time &time, const rclcpp::Duration &period) override
const joint_velocity_controller::Params &getControllerParameters () const
joint_velocity_controller::Params &getControllerParameters ()
const JointVelocityParameters &getJointVelocityParameters () const
ExecutionStategetControllerState () const
const TimedJointState &getLastCommandedState () const
voidoverrideJointPositionLimits (const Eigen::VectorNd &lower_limits, const Eigen::VectorNd &upper_limits)

Private Member Functions Index​

boolhandleStopIfNecessary (const rclcpp::Time &time)
voidconfigurationServiceCallback (const std::shared_ptr< ConfigureMsg::Request > request, std::shared_ptr< ConfigureMsg::Response > response)
JointVelocityParameterscreateJointVelocityParametersFromConfigs ()
voidinitializePublisher ()
voidpublishState (const TimedJointState &current_state, const rclcpp::Time &time)

Private Member Attributes Index​

std::vector< std::string >joint_names_
std::vector< std::string >command_joint_names_
std::stringplanning_group_name_
std::size_tn_joints_ = 0
Eigen::VectorNdupper_position_limits_
Eigen::VectorNdlower_position_limits_
InterfaceReferences< hardware_interface::LoanedCommandInterface >joint_command_interfaces_
InterfaceReferences< hardware_interface::LoanedStateInterface >joint_state_interfaces_
UtilizedInterfacesutilized_state_interfaces_
UtilizedInterfacesutilized_command_interfaces_
realtime_tools::RealtimeBuffer< ExecutionState >goal_state_
rclcpp::Publisher< JointVelocityControllerState >::SharedPtrstate_publisher_
std::unique_ptr< RTStatePublisher >rt_state_publisher_
TimedJointStatelast_published_state_
rclcpp::Timelast_state_publish_time_
std::shared_ptr< joint_velocity_controller::ParamListener >param_listener_
joint_velocity_controller::Paramsparams_
std::atomic< bool >subscriber_is_active_ = false
rclcpp::Subscription< JointJogCommand >::SharedPtrcommand_subscriber_ = nullptr
realtime_tools::RealtimeBuffer< JointJogCommand >received_command_msg_
rclcpp::Service< ConfigureMsg >::SharedPtrconfiguration_service_
std::unique_ptr< JointVelocitySetpointGenerator >joint_velocity_setpoint_generator_
TimedJointStatelast_commanded_state_
StopTrajectorystop_trajectory_
rclcpp::Timestop_requested_time_
const moveit_pro::base::JointModelGroup *joint_model_group_ = nullptr

Public Static Attributes Index​

static constexpr autokControllerStateTopic = "~/controller_state"

Definition at line 38 of file joint_velocity_controller.hpp.

Private Member Typedefs​

ConfigureMsg​

using moveit_pro_controllers::JointVelocityController::ConfigureMsg = moveit_pro_controllers_msgs::srv::ConfigureJointVelocityController

Definition at line 113 of file joint_velocity_controller.hpp.

JointJogCommand​

using moveit_pro_controllers::JointVelocityController::JointJogCommand = control_msgs::msg::JointJog

Definition at line 112 of file joint_velocity_controller.hpp.

JointVelocityControllerState​

using moveit_pro_controllers::JointVelocityController::JointVelocityControllerState = moveit_pro_controllers_msgs::msg::JointVelocityControllerState

Definition at line 110 of file joint_velocity_controller.hpp.

RTStatePublisher​

using moveit_pro_controllers::JointVelocityController::RTStatePublisher = realtime_tools::RealtimePublisher<JointVelocityControllerState>

Definition at line 111 of file joint_velocity_controller.hpp.

Enumerations​

ExecutionState​

enum class moveit_pro_controllers::JointVelocityController::ExecutionState
strong
Enumeration values
IDLE
GOAL_RUNNING
STOP_ON_TIMEOUT
STOP_ON_JOINT_LIMIT
STOP_ON_NON_FINITE
STOPPING_ON_TIMEOUT
STOPPING_ON_JOINT_LIMIT
STOPPING_ON_NON_FINITE
WAIT_FOR_COMMAND_TIMEOUT

Definition at line 43 of file joint_velocity_controller.hpp.

Public Constructors​

JointVelocityController()​

moveit_pro_controllers::JointVelocityController::JointVelocityController ()

Declaration at line 57 of file joint_velocity_controller.hpp, definition at line 46 of file joint_velocity_controller.cpp.

Public Member Functions​

command_interface_configuration()​

controller_interface::InterfaceConfiguration moveit_pro_controllers::JointVelocityController::command_interface_configuration ()

Declaration at line 59 of file joint_velocity_controller.hpp, definition at line 269 of file joint_velocity_controller.cpp.

getControllerParameters()​

const joint_velocity_controller::Params & moveit_pro_controllers::JointVelocityController::getControllerParameters ()
 inline

Definition at line 74 of file joint_velocity_controller.hpp.

getControllerParameters()​

joint_velocity_controller::Params & moveit_pro_controllers::JointVelocityController::getControllerParameters ()
 inline

Definition at line 78 of file joint_velocity_controller.hpp.

getControllerState()​

ExecutionState moveit_pro_controllers::JointVelocityController::getControllerState ()
 inline

Definition at line 90 of file joint_velocity_controller.hpp.

getJointVelocityParameters()​

const JointVelocityParameters & moveit_pro_controllers::JointVelocityController::getJointVelocityParameters ()
 inline

Definition at line 84 of file joint_velocity_controller.hpp.

getLastCommandedState()​

const TimedJointState & moveit_pro_controllers::JointVelocityController::getLastCommandedState ()
 inline

Definition at line 96 of file joint_velocity_controller.hpp.

on_activate()​

CallbackReturn moveit_pro_controllers::JointVelocityController::on_activate (const rclcpp_lifecycle::State & previous_state)

Declaration at line 67 of file joint_velocity_controller.hpp, definition at line 282 of file joint_velocity_controller.cpp.

on_configure()​

CallbackReturn moveit_pro_controllers::JointVelocityController::on_configure (const rclcpp_lifecycle::State & previous_state)

Declaration at line 65 of file joint_velocity_controller.hpp, definition at line 76 of file joint_velocity_controller.cpp.

on_deactivate()​

CallbackReturn moveit_pro_controllers::JointVelocityController::on_deactivate (const rclcpp_lifecycle::State & previous_state)

Declaration at line 69 of file joint_velocity_controller.hpp, definition at line 314 of file joint_velocity_controller.cpp.

on_init()​

CallbackReturn moveit_pro_controllers::JointVelocityController::on_init ()

Declaration at line 63 of file joint_velocity_controller.hpp, definition at line 51 of file joint_velocity_controller.cpp.

overrideJointPositionLimits()​

void moveit_pro_controllers::JointVelocityController::overrideJointPositionLimits (const Eigen::VectorNd & lower_limits, const Eigen::VectorNd & upper_limits)
 inline

Definition at line 103 of file joint_velocity_controller.hpp.

state_interface_configuration()​

controller_interface::InterfaceConfiguration moveit_pro_controllers::JointVelocityController::state_interface_configuration ()

Declaration at line 61 of file joint_velocity_controller.hpp, definition at line 274 of file joint_velocity_controller.cpp.

update()​

controller_interface::return_type moveit_pro_controllers::JointVelocityController::update (const rclcpp::Time & time, const rclcpp::Duration & period)

Declaration at line 71 of file joint_velocity_controller.hpp, definition at line 326 of file joint_velocity_controller.cpp.

Private Member Functions​

configurationServiceCallback()​

void moveit_pro_controllers::JointVelocityController::configurationServiceCallback (const std::shared_ptr< ConfigureMsg::Request > request, std::shared_ptr< ConfigureMsg::Response > response)

Declaration at line 120 of file joint_velocity_controller.hpp, definition at line 534 of file joint_velocity_controller.cpp.

createJointVelocityParametersFromConfigs()​

JointVelocityParameters moveit_pro_controllers::JointVelocityController::createJointVelocityParametersFromConfigs ()

Declaration at line 124 of file joint_velocity_controller.hpp, definition at line 523 of file joint_velocity_controller.cpp.

handleStopIfNecessary()​

bool moveit_pro_controllers::JointVelocityController::handleStopIfNecessary (const rclcpp::Time & time)

Declaration at line 117 of file joint_velocity_controller.hpp, definition at line 473 of file joint_velocity_controller.cpp.

initializePublisher()​

void moveit_pro_controllers::JointVelocityController::initializePublisher ()

Declaration at line 127 of file joint_velocity_controller.hpp, definition at line 206 of file joint_velocity_controller.cpp.

publishState()​

void moveit_pro_controllers::JointVelocityController::publishState (const TimedJointState & current_state, const rclcpp::Time & time)

Declaration at line 130 of file joint_velocity_controller.hpp, definition at line 227 of file joint_velocity_controller.cpp.

Private Member Attributes​

command_joint_names_​

std::vector<std::string> moveit_pro_controllers::JointVelocityController::command_joint_names_

Definition at line 134 of file joint_velocity_controller.hpp.

command_subscriber_​

rclcpp::Subscription<JointJogCommand>::SharedPtr moveit_pro_controllers::JointVelocityController::command_subscriber_ = nullptr

Definition at line 159 of file joint_velocity_controller.hpp.

configuration_service_​

rclcpp::Service<ConfigureMsg>::SharedPtr moveit_pro_controllers::JointVelocityController::configuration_service_

Definition at line 163 of file joint_velocity_controller.hpp.

goal_state_​

realtime_tools::RealtimeBuffer<ExecutionState> moveit_pro_controllers::JointVelocityController::goal_state_

Definition at line 147 of file joint_velocity_controller.hpp.

joint_command_interfaces_​

InterfaceReferences<hardware_interface::LoanedCommandInterface> moveit_pro_controllers::JointVelocityController::joint_command_interfaces_

Definition at line 141 of file joint_velocity_controller.hpp.

joint_model_group_​

const moveit_pro::base::JointModelGroup* moveit_pro_controllers::JointVelocityController::joint_model_group_ = nullptr

Definition at line 176 of file joint_velocity_controller.hpp.

joint_names_​

std::vector<std::string> moveit_pro_controllers::JointVelocityController::joint_names_

Definition at line 133 of file joint_velocity_controller.hpp.

joint_state_interfaces_​

InterfaceReferences<hardware_interface::LoanedStateInterface> moveit_pro_controllers::JointVelocityController::joint_state_interfaces_

Definition at line 142 of file joint_velocity_controller.hpp.

joint_velocity_setpoint_generator_​

std::unique_ptr<JointVelocitySetpointGenerator> moveit_pro_controllers::JointVelocityController::joint_velocity_setpoint_generator_

Definition at line 166 of file joint_velocity_controller.hpp.

last_commanded_state_​

TimedJointState moveit_pro_controllers::JointVelocityController::last_commanded_state_

Definition at line 169 of file joint_velocity_controller.hpp.

last_published_state_​

TimedJointState moveit_pro_controllers::JointVelocityController::last_published_state_

Definition at line 150 of file joint_velocity_controller.hpp.

last_state_publish_time_​

rclcpp::Time moveit_pro_controllers::JointVelocityController::last_state_publish_time_

Definition at line 151 of file joint_velocity_controller.hpp.

lower_position_limits_​

Eigen::VectorNd moveit_pro_controllers::JointVelocityController::lower_position_limits_

Definition at line 138 of file joint_velocity_controller.hpp.

n_joints_​

std::size_t moveit_pro_controllers::JointVelocityController::n_joints_ = 0

Definition at line 136 of file joint_velocity_controller.hpp.

param_listener_​

std::shared_ptr<joint_velocity_controller::ParamListener> moveit_pro_controllers::JointVelocityController::param_listener_

Definition at line 154 of file joint_velocity_controller.hpp.

params_​

joint_velocity_controller::Params moveit_pro_controllers::JointVelocityController::params_

Definition at line 155 of file joint_velocity_controller.hpp.

planning_group_name_​

std::string moveit_pro_controllers::JointVelocityController::planning_group_name_

Definition at line 135 of file joint_velocity_controller.hpp.

received_command_msg_​

realtime_tools::RealtimeBuffer<JointJogCommand> moveit_pro_controllers::JointVelocityController::received_command_msg_

Definition at line 160 of file joint_velocity_controller.hpp.

rt_state_publisher_​

std::unique_ptr<RTStatePublisher> moveit_pro_controllers::JointVelocityController::rt_state_publisher_

Definition at line 149 of file joint_velocity_controller.hpp.

state_publisher_​

rclcpp::Publisher<JointVelocityControllerState>::SharedPtr moveit_pro_controllers::JointVelocityController::state_publisher_

Definition at line 148 of file joint_velocity_controller.hpp.

stop_requested_time_​

rclcpp::Time moveit_pro_controllers::JointVelocityController::stop_requested_time_

Definition at line 173 of file joint_velocity_controller.hpp.

stop_trajectory_​

StopTrajectory moveit_pro_controllers::JointVelocityController::stop_trajectory_

Definition at line 172 of file joint_velocity_controller.hpp.

subscriber_is_active_​

std::atomic<bool> moveit_pro_controllers::JointVelocityController::subscriber_is_active_ = false

Definition at line 158 of file joint_velocity_controller.hpp.

upper_position_limits_​

Eigen::VectorNd moveit_pro_controllers::JointVelocityController::upper_position_limits_

Definition at line 137 of file joint_velocity_controller.hpp.

utilized_command_interfaces_​

UtilizedInterfaces moveit_pro_controllers::JointVelocityController::utilized_command_interfaces_

Definition at line 144 of file joint_velocity_controller.hpp.

utilized_state_interfaces_​

UtilizedInterfaces moveit_pro_controllers::JointVelocityController::utilized_state_interfaces_

Definition at line 143 of file joint_velocity_controller.hpp.

Public Static Attributes​

kControllerStateTopic​

constexpr auto moveit_pro_controllers::JointVelocityController::kControllerStateTopic = "~/controller_state"
 constexpr static

Definition at line 41 of file joint_velocity_controller.hpp.

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