moveit_pro_controllers::JointVelocityController Class Reference

#include <joint_velocity_controller.hpp>

Inheritance diagram for moveit_pro_controllers::JointVelocityController:

Collaboration diagram for moveit_pro_controllers::JointVelocityController:

Public Types
enum class	ExecutionState {   IDLE , GOAL_RUNNING , STOP_ON_TIMEOUT , STOP_ON_JOINT_LIMIT ,   STOPPING_ON_TIMEOUT , STOPPING_ON_JOINT_LIMIT , WAIT_FOR_COMMAND_TIMEOUT }

Public Member Functions
	JointVelocityController ()
controller_interface::InterfaceConfiguration	command_interface_configuration () const override
controller_interface::InterfaceConfiguration	state_interface_configuration () const override
CallbackReturn	on_init () override
CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
controller_interface::return_type	update (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
ExecutionState	getControllerState () const
const TimedJointState &	getLastCommandedState () const
void	overrideJointPositionLimits (const Eigen::VectorNd &lower_limits, const Eigen::VectorNd &upper_limits)
Public Member Functions inherited from moveit_pro_controllers::ControllerWithRobotModel
	ControllerWithRobotModel ()=default
bool	configurePlanningGroup (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &node, const std::string_view &planning_group_name, bool chain_required=true)
bool	configureToolFrames (const std::string &controller_name, const std::vector< std::string > &sensor_frames, const std::vector< std::string > &ee_frames)
void	subscribeToRobotDescription (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &node)
tl::expected< void, std::string >	loadRobotModel (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &node)
void	setRobotDescription (const std_msgs::msg::String::ConstSharedPtr robot_description)
void	setRobotDescriptionSemantic (const std_msgs::msg::String::ConstSharedPtr robot_description_semantic)
bool	getJointPositionLimits (const std::vector< std::string > &joint_names, Eigen::VectorNd &lower_position_limits, Eigen::VectorNd &upper_position_limits) const
const moveit_pro::base::RobotModel &	getRobotModel () const
const moveit_pro::base::RobotState &	getRobotState () const
moveit_pro::base::RobotState &	getRobotState ()
const std::string &	getPlanningGroupName () const
const std::vector< std::string > &	getJointNames () const
std::size_t	getDofCount () const
const moveit_pro::base::JointModelGroup *	getJointModelGroup () const
const moveit_pro::base::LinkModel *	getBaseLink () const
const moveit_pro::base::LinkModel *	getFirstEndEffectorLink () const
std::span< moveit_pro::base::LinkModel const *const >	getEndEffectorLinks () const
const moveit_pro::base::LinkModel *	getFirstSensorLink () const
std::span< moveit_pro::base::LinkModel const *const >	getSensorLinks () const

Static Public Attributes
static constexpr auto	kControllerStateTopic = "~/controller_state"

Member Enumeration Documentation

ExecutionState

enum class moveit_pro_controllers::JointVelocityController::ExecutionState

strong

Enumerator
IDLE
GOAL_RUNNING
STOP_ON_TIMEOUT
STOP_ON_JOINT_LIMIT
STOPPING_ON_TIMEOUT
STOPPING_ON_JOINT_LIMIT
WAIT_FOR_COMMAND_TIMEOUT

Constructor & Destructor Documentation

JointVelocityController()

moveit_pro_controllers::JointVelocityController::JointVelocityController

(

)

Member Function Documentation

command_interface_configuration()

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

override

getControllerParameters() [1/2]

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

inline

getControllerParameters() [2/2]

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

inline

getControllerState()

ExecutionState moveit_pro_controllers::JointVelocityController::getControllerState ( ) const

inline

getJointVelocityParameters()

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

inline

getLastCommandedState()

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

inline

on_activate()

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

override

on_configure()

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

override

on_deactivate()

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

override

on_init()

CallbackReturn moveit_pro_controllers::JointVelocityController::on_init ( )

override

overrideJointPositionLimits()

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

inline

state_interface_configuration()

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

override

update()

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

override

Member Data Documentation

kControllerStateTopic

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

staticconstexpr

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The documentation for this class was generated from the following files:

• joint_velocity_controller.hpp
• joint_velocity_controller.cpp