joint_trajectory_admittance_controller.hpp File Reference

#include <chrono>
#include <memory>
#include <optional>
#include <string>
#include <vector>
#include "control_common/signal_processing.hpp"
#include "control_common/stop_trajectory.hpp"
#include "control_msgs/msg/joint_trajectory_controller_state.hpp"
#include "controller_interface/controller_interface.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp_action/server.hpp"
#include "realtime_tools/realtime_buffer.hpp"
#include "realtime_tools/realtime_publisher.hpp"
#include "realtime_tools/realtime_server_goal_handle.hpp"
#include "semantic_components/force_torque_sensor.hpp"
#include "std_msgs/msg/string.hpp"
#include "trajectory_msgs/msg/joint_trajectory.hpp"
#include "trajectory_msgs/msg/joint_trajectory_point.hpp"
#include "cartesian_planning/types.hpp"
#include "joint_trajectory_admittance_controller/admittance.hpp"
#include "joint_trajectory_admittance_controller/interpolation.hpp"
#include "joint_trajectory_admittance_controller/joint_trajectory_admittance_controller_params.hpp"
#include "moveit_pro_controllers_msgs/action/follow_joint_trajectory_with_admittance.hpp"
#include "moveit_pro_types/types.hpp"
#include "ros2_control_utils/realtime_trigger_service_monitor.hpp"
#include "ros2_control_utils/ros2_control_utils.hpp"

Include dependency graph for joint_trajectory_admittance_controller.hpp:

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Classes
struct	moveit_pro_controllers::JointTrajectoryAdmittanceControllerCommand
class	moveit_pro_controllers::JointTrajectoryAdmittanceController

Namespaces
namespace	moveit_pro_controllers

Typedefs
using	CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
using	ControllerStateMsg = control_msgs::msg::JointTrajectoryControllerState

Functions
tl::expected< Trajectory, std::string >	moveit_pro_controllers::trajectoryFromROSMsg (const trajectory_msgs::msg::JointTrajectory &joint_trajectory, const std::vector< std::string > &controller_joint_names)
tl::expected< trajectory_msgs::msg::JointTrajectory, std::string >	moveit_pro_controllers::ROSMsgFromTrajectory (const Trajectory &joint_trajectory)

Variables
constexpr auto	moveit_pro_controllers::kJointTrajectoryAdmittanceControllerActionName = "/follow_joint_trajectory"
constexpr auto	moveit_pro_controllers::kJointTrajectoryAdmittanceControllerTopicName = "~/controller_state"

Typedef Documentation

CallbackReturn

using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

ControllerStateMsg

using ControllerStateMsg = control_msgs::msg::JointTrajectoryControllerState