Base controller class that automatically associates joints with a JointState object. More...

#include <RobotControllerInterface.hpp>

Inheritance diagram for modulo_controllers::RobotControllerInterface:

Public Member Functions
	RobotControllerInterface ()
	Default constructor.

	RobotControllerInterface (bool robot_model_required, const std::string &control_type="", bool load_geometries=false)
	Constructor with robot model flag and a control type to determine the command interfaces to claim.

CallbackReturn	add_interfaces () override
	Add interfaces like parameters, signals, services, and predicates to the controller.

CallbackReturn	on_configure () override
	Configure the controller.

CallbackReturn	on_activate () override
	Activate the controller.

Public Member Functions inherited from modulo_controllers::ControllerInterface
	ControllerInterface (bool claim_all_state_interfaces=false)
	Default constructor.

CallbackReturn	on_init () override
	Declare parameters.

CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) final
	Set class properties from parameters.

CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) final
	Initialize internal data attributes from configured interfaces and wait for valid states from hardware.

CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) final
	Deactivate the controller.

controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) final
	Read the state interfaces, perform control evaluation and write the command interfaces.

controller_interface::InterfaceConfiguration	state_interface_configuration () const final
	Configure the state interfaces.

controller_interface::InterfaceConfiguration	command_interface_configuration () const final
	Configure the command interfaces.

Public Member Functions inherited from modulo_controllers::BaseControllerInterface
	BaseControllerInterface ()
	Default constructor.

CallbackReturn	on_init () override
	Declare parameters and register the on_set_parameters callback.

CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
	Add signals.

template<>
void	write_output (const std::string &name, const bool &data)

template<>
void	write_output (const std::string &name, const double &data)

template<>
void	write_output (const std::string &name, const std::vector< double > &data)

template<>
void	write_output (const std::string &name, const int &data)

template<>
void	write_output (const std::string &name, const std::string &data)

Protected Member Functions
const state_representation::JointState &	get_joint_state ()
	Access the joint state object.

const state_representation::CartesianState &	get_cartesian_state ()
	Access the Cartesian state object.

const state_representation::CartesianWrench &	get_ft_sensor ()
	Access the Cartesian wrench object.

void	compute_cartesian_state ()
	Compute the Cartesian state from forward kinematics of the current joint state.

void	set_joint_command (const state_representation::JointState &joint_command)
	Set the joint command object.

bool	on_validate_parameter_callback (const std::shared_ptr< state_representation::ParameterInterface > &parameter) override
	Parameter validation function to be redefined by derived controller classes.

Protected Member Functions inherited from modulo_controllers::ControllerInterface
virtual CallbackReturn	on_deactivate ()
	Deactivate the controller.

virtual controller_interface::return_type	evaluate (const rclcpp::Time &time, const std::chrono::nanoseconds &period)=0
	The control logic callback.

void	add_state_interface (const std::string &name, const std::string &interface)
	Add a state interface to the controller by name.

void	add_command_interface (const std::string &name, const std::string &interface)
	Add a command interface to the controller by name.

std::unordered_map< std::string, double >	get_state_interfaces (const std::string &name) const
	Get a map containing the state interfaces by name of the parent tag.

double	get_state_interface (const std::string &name, const std::string &interface) const
	Get the value of a state interface by name.

double	get_command_interface (const std::string &name, const std::string &interface) const
	Get the value of a command interface by name.

void	set_command_interface (const std::string &name, const std::string &interface, double value)
	Set the value of a command interface by name.

Protected Member Functions inherited from modulo_controllers::BaseControllerInterface
void	add_parameter (const std::shared_ptr< state_representation::ParameterInterface > &parameter, const std::string &description, bool read_only=false)
	Add a parameter.

template<typename T >
void	add_parameter (const std::string &name, const T &value, const std::string &description, bool read_only=false)
	Add a parameter.

std::shared_ptr< state_representation::ParameterInterface >	get_parameter (const std::string &name) const
	Get a parameter by name.

template<typename T >
T	get_parameter_value (const std::string &name) const
	Get a parameter value by name.

template<typename T >
void	set_parameter_value (const std::string &name, const T &value)
	Set the value of a parameter.

void	add_predicate (const std::string &predicate_name, bool predicate_value)
	Add a predicate to the map of predicates.

void	add_predicate (const std::string &predicate_name, const std::function< bool(void)> &predicate_function)
	Add a predicate to the map of predicates based on a function to periodically call.

bool	get_predicate (const std::string &predicate_name) const
	Get the logical value of a predicate.

void	set_predicate (const std::string &predicate_name, bool predicate_value)
	Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

void	set_predicate (const std::string &predicate_name, const std::function< bool(void)> &predicate_function)
	Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

void	add_trigger (const std::string &trigger_name)
	Add a trigger to the controller.

void	trigger (const std::string &trigger_name)
	Latch the trigger with the provided name.

template<typename T >
void	add_input (const std::string &name, const std::string &topic_name="")
	Add an input to the controller.

template<typename T >
void	add_output (const std::string &name, const std::string &topic_name="")
	Add an output to the controller.

void	set_input_validity_period (double input_validity_period)
	Set the input validity period of input signals.

template<typename T >
std::optional< T >	read_input (const std::string &name)
	Read the most recent message of an input.

template<typename T >
void	write_output (const std::string &name, const T &data)
	Write an object to an output.

void	add_service (const std::string &service_name, const std::function< ControllerServiceResponse(void)> &callback)
	Add a service to trigger a callback function with no input arguments.

void	add_service (const std::string &service_name, const std::function< ControllerServiceResponse(const std::string &string)> &callback)
	Add a service to trigger a callback function with a string payload.

rclcpp::QoS	get_qos () const
	Getter of the Quality of Service attribute.

void	set_qos (const rclcpp::QoS &qos)
	Set the Quality of Service for ROS publishers and subscribers.

bool	is_active () const
	Check if the controller is currently in state active or not.

std::timed_mutex &	get_command_mutex ()
	Get the reference to the command mutex.

template<>
void	add_input (const std::string &name, const std::string &topic_name)

template<>
void	add_input (const std::string &name, const std::string &topic_name)

template<>
void	add_input (const std::string &name, const std::string &topic_name)

template<>
void	add_output (const std::string &name, const std::string &topic_name)

template<>
void	add_output (const std::string &name, const std::string &topic_name)

template<>
void	add_output (const std::string &name, const std::string &topic_name)

template<>
std::optional< bool >	read_input (const std::string &name)

template<>
std::optional< double >	read_input (const std::string &name)

template<>
std::optional< int >	read_input (const std::string &name)

Protected Attributes
std::shared_ptr< robot_model::Model >	robot_
	Robot model object generated from URDF.

std::string	task_space_frame_
	The frame in task space for forward kinematics calculations, if applicable.

std::string	ft_sensor_name_
	The name of a force torque sensor in the hardware description.

std::string	ft_sensor_reference_frame_
	The sensing reference frame.

Protected Attributes inherited from modulo_controllers::ControllerInterface
std::string	hardware_name_
	The hardware name provided by a parameter.

Detailed Description

Base controller class that automatically associates joints with a JointState object.

The robot controller interface extends the functionality of the modulo controller interface byautomatically claiming all state interfaces from joints and command interfaces of a given type (position, velocity, effort or acceleration) for those same joints. Joint state and command are associated with these interfaces and abstracted as JointState pointers for derived classes to access. A robot model, Cartesian state and force-torque sensor state are similarly available based on the URDF and state interfaces.

Definition at line 23 of file RobotControllerInterface.hpp.

Constructor & Destructor Documentation

◆ RobotControllerInterface() [1/2]

modulo_controllers::RobotControllerInterface::RobotControllerInterface ( )

Default constructor.

Definition at line 18 of file RobotControllerInterface.cpp.

◆ RobotControllerInterface() [2/2]

modulo_controllers::RobotControllerInterface::RobotControllerInterface	(	bool	robot_model_required,
		const std::string &	control_type = `""`,
		bool	load_geometries = `false`
	)

explicit

Constructor with robot model flag and a control type to determine the command interfaces to claim.

Parameters

robot_model_required	Flag to indicate if a robot model is required for the controller
control_type	One of [position, velocity, effort or acceleration]
load_geometries	If true, load the URDF geometries into the robot model for collision features

Definition at line 20 of file RobotControllerInterface.cpp.

Member Function Documentation

◆ add_interfaces()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::RobotControllerInterface::add_interfaces ( )

overridevirtual

Add interfaces like parameters, signals, services, and predicates to the controller.

This function is called during the on_init callback of the base class to perform post-construction steps.

Returns: SUCCESS or ERROR

Declare additional parameters.

Reimplemented from modulo_controllers::ControllerInterface.

Definition at line 35 of file RobotControllerInterface.cpp.

◆ compute_cartesian_state()

void modulo_controllers::RobotControllerInterface::compute_cartesian_state ( )

protected

Compute the Cartesian state from forward kinematics of the current joint state.

This should only be used if a robot model has been generated, in which case the forward kinematics is calculated to get pose and twist for the desired target frame.

Definition at line 302 of file RobotControllerInterface.cpp.

◆ get_cartesian_state()

const CartesianState & modulo_controllers::RobotControllerInterface::get_cartesian_state ( )

protected

Access the Cartesian state object.

This internally calls compute_cartesian_state()

Returns: A const reference to the CartesianState object

Definition at line 292 of file RobotControllerInterface.cpp.

◆ get_ft_sensor()

const CartesianWrench & modulo_controllers::RobotControllerInterface::get_ft_sensor ( )

protected

Access the Cartesian wrench object.

Returns: A const reference to the CartesianWrench object

Definition at line 298 of file RobotControllerInterface.cpp.

◆ get_joint_state()

const JointState & modulo_controllers::RobotControllerInterface::get_joint_state ( )

protected

Access the joint state object.

Returns: A const reference to the JointState object

Definition at line 288 of file RobotControllerInterface.cpp.

◆ on_activate()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::RobotControllerInterface::on_activate ( )

overridevirtual

Activate the controller.

This method should be overridden by derived classes.

Returns: SUCCESS or ERROR

Initialize a fore torque sensor if applicable

Reimplemented from modulo_controllers::ControllerInterface.

Definition at line 176 of file RobotControllerInterface.cpp.

◆ on_configure()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::RobotControllerInterface::on_configure ( )

overridevirtual

Configure the controller.

This method should be overridden by derived classes.

Returns: SUCCESS or ERROR

Create a robot model from the robot description, get and sort the joints and construct the internal joint state object.

Reimplemented from modulo_controllers::ControllerInterface.

Definition at line 59 of file RobotControllerInterface.cpp.

◆ on_validate_parameter_callback()

bool modulo_controllers::RobotControllerInterface::on_validate_parameter_callback ( const std::shared_ptr< state_representation::ParameterInterface > & parameter )

overrideprotectedvirtual

Parameter validation function to be redefined by derived controller classes.

This method is automatically invoked whenever the ROS interface tried to modify a parameter. Validation and sanitization can be performed by reading or writing the value of the parameter through the ParameterInterface pointer, depending on the parameter name and desired controller behaviour. If the validation returns true, the updated parameter value (including any modifications) is applied. If the validation returns false, any changes to the parameter are discarded and the parameter value is not changed.

Parameters

parameter A ParameterInterface pointer to a Parameter instance

Returns: The validation result

Reimplemented from modulo_controllers::BaseControllerInterface.

Definition at line 356 of file RobotControllerInterface.cpp.

◆ set_joint_command()

void modulo_controllers::RobotControllerInterface::set_joint_command ( const state_representation::JointState & joint_command )

protected

Set the joint command object.

Parameters

joint_command A JointState command object

Definition at line 314 of file RobotControllerInterface.cpp.

Member Data Documentation

◆ ft_sensor_name_

std::string modulo_controllers::RobotControllerInterface::ft_sensor_name_

protected

The name of a force torque sensor in the hardware description.

Definition at line 100 of file RobotControllerInterface.hpp.

◆ ft_sensor_reference_frame_

std::string modulo_controllers::RobotControllerInterface::ft_sensor_reference_frame_

protected

The sensing reference frame.

Definition at line 101 of file RobotControllerInterface.hpp.

◆ robot_

std::shared_ptr<robot_model::Model> modulo_controllers::RobotControllerInterface::robot_

protected

Robot model object generated from URDF.

Definition at line 97 of file RobotControllerInterface.hpp.

◆ task_space_frame_

std::string modulo_controllers::RobotControllerInterface::task_space_frame_

protected

The frame in task space for forward kinematics calculations, if applicable.

Definition at line 98 of file RobotControllerInterface.hpp.

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

/github/workspace/source/modulo_controllers/include/modulo_controllers/RobotControllerInterface.hpp
/github/workspace/source/modulo_controllers/src/RobotControllerInterface.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobotControllerInterface() [1/2]

◆ RobotControllerInterface() [2/2]

Member Function Documentation

◆ add_interfaces()

◆ compute_cartesian_state()

◆ get_cartesian_state()

◆ get_ft_sensor()

◆ get_joint_state()

◆ on_activate()

◆ on_configure()

◆ on_validate_parameter_callback()

◆ set_joint_command()

Member Data Documentation

◆ ft_sensor_name_

◆ ft_sensor_reference_frame_

◆ robot_

◆ task_space_frame_