diff --git a/versions/main/_base_controller_interface_8cpp_source.html b/versions/main/_base_controller_interface_8cpp_source.html index acbd39d0..0aeeeb7d 100644 --- a/versions/main/_base_controller_interface_8cpp_source.html +++ b/versions/main/_base_controller_interface_8cpp_source.html @@ -85,766 +85,626 @@
2
3#include <chrono>
4
-
5#include <console_bridge/console.h>
+
5#include <lifecycle_msgs/msg/state.hpp>
6
-
7#include <lifecycle_msgs/msg/state.hpp>
+
7#include <modulo_core/translators/message_readers.hpp>
8
-
9#include <modulo_core/exceptions.hpp>
-
10#include <modulo_core/translators/message_readers.hpp>
-
11#include <stdexcept>
-
12
+
9template<class... Ts>
+
10struct overloaded : Ts... {
+
11 using Ts::operator()...;
+
12};
13template<class... Ts>
-
14struct overloaded : Ts... {
-
15 using Ts::operator()...;
-
16};
-
17template<class... Ts>
-
18overloaded(Ts...) -> overloaded<Ts...>;
+
14overloaded(Ts...) -> overloaded<Ts...>;
+
15
+
16using namespace modulo_core;
+
17using namespace state_representation;
+
18using namespace std::chrono_literals;
19
-
20using namespace modulo_core;
-
21using namespace state_representation;
-
22using namespace std::chrono_literals;
-
23
-
24namespace modulo_controllers {
-
25
-
-
26BaseControllerInterface::BaseControllerInterface()
-
27 : controller_interface::ControllerInterface(), input_validity_period_(std::numeric_limits<double>::quiet_NaN()) {}
+
20namespace modulo_controllers {
+
21
+
+
22BaseControllerInterface::BaseControllerInterface()
+
23 : controller_interface::ControllerInterface(), input_validity_period_(std::numeric_limits<double>::quiet_NaN()) {}
+
+
24
+
+
25rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn BaseControllerInterface::on_init() {
+
26 // registering set_parameter callbacks is only possible on_init since the lifecycle node is not yet initialized
+
27 // on construction. This means we might not be able to validate parameter overrides - if they are provided.
+
28 pre_set_parameter_cb_handle_ = get_node()->add_pre_set_parameters_callback(
+
29 [this](std::vector<rclcpp::Parameter>& parameters) { return this->pre_set_parameters_callback(parameters); });
+
30 on_set_parameter_cb_handle_ = get_node()->add_on_set_parameters_callback(
+
31 [this](const std::vector<rclcpp::Parameter>& parameters) -> rcl_interfaces::msg::SetParametersResult {
+
32 return this->on_set_parameters_callback(parameters);
+
33 });
+
34 add_parameter<double>("predicate_publishing_rate", 10.0, "The rate at which to publish controller predicates");
+
35 return CallbackReturn::SUCCESS;
+
36}
+
+
37
+
38rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
+
+
39BaseControllerInterface::on_configure(const rclcpp_lifecycle::State&) {
+
40 add_inputs();
+
41 add_outputs();
+
42
+
43 if (predicates_.size()) {
+
44 predicate_publisher_ =
+
45 get_node()->create_publisher<modulo_interfaces::msg::PredicateCollection>("/predicates", qos_);
+
46 predicate_message_.node = get_node()->get_fully_qualified_name();
+
47 predicate_message_.type = modulo_interfaces::msg::PredicateCollection::CONTROLLER;
+
48
+
49 predicate_timer_ = get_node()->create_wall_timer(
+
50 std::chrono::nanoseconds(static_cast<int64_t>(1e9 / get_parameter_value<double>("predicate_publishing_rate"))),
+
51 [this]() { this->publish_predicates(); });
+
52 }
+
53
+
54 RCLCPP_DEBUG(get_node()->get_logger(), "Configuration of BaseControllerInterface successful");
+
55 return CallbackReturn::SUCCESS;
+
56}
-
28
-
-
29rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn BaseControllerInterface::on_init() {
-
30 // registering set_parameter callbacks is only possible on_init since the lifecycle node is not yet initialized
-
31 // on construction. This means we might not be able to validate parameter overrides - if they are provided.
-
32 pre_set_parameter_cb_handle_ = get_node()->add_pre_set_parameters_callback(
-
33 [this](std::vector<rclcpp::Parameter>& parameters) { return this->pre_set_parameters_callback(parameters); });
-
34 on_set_parameter_cb_handle_ = get_node()->add_on_set_parameters_callback(
-
35 [this](const std::vector<rclcpp::Parameter>& parameters) -> rcl_interfaces::msg::SetParametersResult {
-
36 return this->on_set_parameters_callback(parameters);
-
37 });
-
38 add_parameter<double>("predicate_publishing_rate", 10.0, "The rate at which to publish controller predicates");
-
39 return CallbackReturn::SUCCESS;
-
40}
-
-
41
-
42rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-
-
43BaseControllerInterface::on_configure(const rclcpp_lifecycle::State&) {
-
44 add_inputs();
-
45 add_outputs();
-
46
-
47 if (predicates_.size()) {
-
48 predicate_publisher_ =
-
49 get_node()->create_publisher<modulo_interfaces::msg::PredicateCollection>("/predicates", qos_);
-
50 predicate_message_.node = get_node()->get_fully_qualified_name();
-
51 predicate_message_.type = modulo_interfaces::msg::PredicateCollection::CONTROLLER;
-
52
-
53 predicate_timer_ = get_node()->create_wall_timer(
-
54 std::chrono::nanoseconds(static_cast<int64_t>(1e9 / get_parameter_value<double>("predicate_publishing_rate"))),
-
55 [this]() { this->publish_predicates(); });
-
56 }
57
-
58 RCLCPP_DEBUG(get_node()->get_logger(), "Configuration of BaseControllerInterface successful");
-
59 return CallbackReturn::SUCCESS;
-
60}
-
-
61
-
62void BaseControllerInterface::add_parameter(
-
63 const std::shared_ptr<ParameterInterface>& parameter, const std::string& description, bool read_only) {
-
64 rclcpp::Parameter ros_param;
-
65 try {
-
66 ros_param = translators::write_parameter(parameter);
-
67 } catch (const modulo_core::exceptions::ParameterTranslationException& ex) {
-
68 throw modulo_core::exceptions::ParameterException("Failed to add parameter: " + std::string(ex.what()));
-
69 }
-
70 if (!get_node()->has_parameter(parameter->get_name())) {
-
71 RCLCPP_DEBUG(get_node()->get_logger(), "Adding parameter '%s'.", parameter->get_name().c_str());
-
72 parameter_map_.set_parameter(parameter);
-
73 read_only_parameters_.insert_or_assign(parameter->get_name(), false);
-
74 try {
-
75 rcl_interfaces::msg::ParameterDescriptor descriptor;
-
76 descriptor.description = description;
-
77 descriptor.read_only = read_only;
-
78 // since the pre_set_parameters_callback is not called on parameter declaration, this has to be true
-
79 set_parameters_result_.successful = true;
-
80 set_parameters_result_.reason = "";
-
81 if (parameter->is_empty()) {
-
82 descriptor.dynamic_typing = true;
-
83 descriptor.type = translators::get_ros_parameter_type(parameter->get_parameter_type());
-
84 get_node()->declare_parameter(parameter->get_name(), rclcpp::ParameterValue{}, descriptor);
-
85 } else {
-
86 get_node()->declare_parameter(parameter->get_name(), ros_param.get_parameter_value(), descriptor);
-
87 }
-
88 std::vector<rclcpp::Parameter> ros_parameters{get_node()->get_parameters({parameter->get_name()})};
-
89 pre_set_parameters_callback(ros_parameters);
-
90 auto result = on_set_parameters_callback(ros_parameters);
-
91 if (!result.successful) {
-
92 get_node()->undeclare_parameter(parameter->get_name());
-
93 throw modulo_core::exceptions::ParameterException(result.reason);
-
94 }
-
95 read_only_parameters_.at(parameter->get_name()) = read_only;
-
96 } catch (const std::exception& ex) {
-
97 parameter_map_.remove_parameter(parameter->get_name());
-
98 read_only_parameters_.erase(parameter->get_name());
-
99 throw modulo_core::exceptions::ParameterException("Failed to add parameter: " + std::string(ex.what()));
-
100 }
-
101 } else {
-
102 RCLCPP_DEBUG(get_node()->get_logger(), "Parameter '%s' already exists.", parameter->get_name().c_str());
-
103 }
-
104}
-
105
-
-
106std::shared_ptr<ParameterInterface> BaseControllerInterface::get_parameter(const std::string& name) const {
-
107 try {
-
108 return parameter_map_.get_parameter(name);
-
109 } catch (const state_representation::exceptions::InvalidParameterException& ex) {
-
110 throw modulo_core::exceptions::ParameterException("Failed to get parameter '" + name + "': " + ex.what());
-
111 }
-
112}
-
-
113
-
114void BaseControllerInterface::pre_set_parameters_callback(std::vector<rclcpp::Parameter>& parameters) {
-
115 if (pre_set_parameter_callback_called_) {
-
116 pre_set_parameter_callback_called_ = false;
-
117 return;
-
118 }
-
119 rcl_interfaces::msg::SetParametersResult result;
-
120 result.successful = true;
-
121 for (auto& ros_parameter : parameters) {
-
122 try {
-
123 auto parameter = parameter_map_.get_parameter(ros_parameter.get_name());
-
124 if (read_only_parameters_.at(ros_parameter.get_name())) {
-
125 RCLCPP_DEBUG(get_node()->get_logger(), "Parameter '%s' is read only.", ros_parameter.get_name().c_str());
-
126 continue;
-
127 }
-
128
-
129 // convert the ROS parameter into a ParameterInterface without modifying the original
-
130 auto new_parameter = translators::read_parameter_const(ros_parameter, parameter);
-
131 if (!this->validate_parameter(new_parameter)) {
-
132 result.successful = false;
-
133 result.reason += "Validation of parameter '" + ros_parameter.get_name() + "' returned false!";
-
134 } else if (!new_parameter->is_empty()) {
-
135 // update the value of the parameter in the map
-
136 translators::copy_parameter_value(new_parameter, parameter);
-
137 ros_parameter = translators::write_parameter(new_parameter);
-
138 }
-
139 } catch (const std::exception& ex) {
-
140 result.successful = false;
-
141 result.reason += ex.what();
-
142 }
-
143 }
-
144 set_parameters_result_ = result;
-
145}
-
146
-
147rcl_interfaces::msg::SetParametersResult
-
148BaseControllerInterface::on_set_parameters_callback(const std::vector<rclcpp::Parameter>&) {
-
149 auto result = set_parameters_result_;
-
150 set_parameters_result_.successful = true;
-
151 set_parameters_result_.reason = "";
-
152 return result;
-
153}
-
154
-
155bool BaseControllerInterface::validate_parameter(const std::shared_ptr<ParameterInterface>& parameter) {
-
156 if (parameter->get_name() == "activation_timeout" || parameter->get_name() == "input_validity_period") {
-
157 auto value = parameter->get_parameter_value<double>();
-
158 if (value < 0.0 || value > std::numeric_limits<double>::max()) {
-
159 RCLCPP_ERROR(
-
160 get_node()->get_logger(), "Parameter value of parameter '%s' should be a positive finite number",
-
161 parameter->get_name().c_str());
-
162 return false;
-
163 }
-
164 }
-
165 return on_validate_parameter_callback(parameter);
+
58void BaseControllerInterface::add_parameter(
+
59 const std::shared_ptr<ParameterInterface>& parameter, const std::string& description, bool read_only) {
+
60 rclcpp::Parameter ros_param;
+
61 try {
+
62 ros_param = translators::write_parameter(parameter);
+
63 } catch (const modulo_core::exceptions::ParameterTranslationException& ex) {
+
64 throw modulo_core::exceptions::ParameterException("Failed to add parameter: " + std::string(ex.what()));
+
65 }
+
66 if (!get_node()->has_parameter(parameter->get_name())) {
+
67 RCLCPP_DEBUG(get_node()->get_logger(), "Adding parameter '%s'.", parameter->get_name().c_str());
+
68 parameter_map_.set_parameter(parameter);
+
69 read_only_parameters_.insert_or_assign(parameter->get_name(), false);
+
70 try {
+
71 rcl_interfaces::msg::ParameterDescriptor descriptor;
+
72 descriptor.description = description;
+
73 descriptor.read_only = read_only;
+
74 // since the pre_set_parameters_callback is not called on parameter declaration, this has to be true
+
75 set_parameters_result_.successful = true;
+
76 set_parameters_result_.reason = "";
+
77 if (parameter->is_empty()) {
+
78 descriptor.dynamic_typing = true;
+
79 descriptor.type = translators::get_ros_parameter_type(parameter->get_parameter_type());
+
80 get_node()->declare_parameter(parameter->get_name(), rclcpp::ParameterValue{}, descriptor);
+
81 } else {
+
82 get_node()->declare_parameter(parameter->get_name(), ros_param.get_parameter_value(), descriptor);
+
83 }
+
84 std::vector<rclcpp::Parameter> ros_parameters{get_node()->get_parameters({parameter->get_name()})};
+
85 pre_set_parameters_callback(ros_parameters);
+
86 auto result = on_set_parameters_callback(ros_parameters);
+
87 if (!result.successful) {
+
88 get_node()->undeclare_parameter(parameter->get_name());
+
89 throw modulo_core::exceptions::ParameterException(result.reason);
+
90 }
+
91 read_only_parameters_.at(parameter->get_name()) = read_only;
+
92 } catch (const std::exception& ex) {
+
93 parameter_map_.remove_parameter(parameter->get_name());
+
94 read_only_parameters_.erase(parameter->get_name());
+
95 throw modulo_core::exceptions::ParameterException("Failed to add parameter: " + std::string(ex.what()));
+
96 }
+
97 } else {
+
98 RCLCPP_DEBUG(get_node()->get_logger(), "Parameter '%s' already exists.", parameter->get_name().c_str());
+
99 }
+
100}
+
101
+
+
102std::shared_ptr<ParameterInterface> BaseControllerInterface::get_parameter(const std::string& name) const {
+
103 try {
+
104 return parameter_map_.get_parameter(name);
+
105 } catch (const state_representation::exceptions::InvalidParameterException& ex) {
+
106 throw modulo_core::exceptions::ParameterException("Failed to get parameter '" + name + "': " + ex.what());
+
107 }
+
108}
+
+
109
+
110void BaseControllerInterface::pre_set_parameters_callback(std::vector<rclcpp::Parameter>& parameters) {
+
111 if (pre_set_parameter_callback_called_) {
+
112 pre_set_parameter_callback_called_ = false;
+
113 return;
+
114 }
+
115 rcl_interfaces::msg::SetParametersResult result;
+
116 result.successful = true;
+
117 for (auto& ros_parameter : parameters) {
+
118 try {
+
119 auto parameter = parameter_map_.get_parameter(ros_parameter.get_name());
+
120 if (read_only_parameters_.at(ros_parameter.get_name())) {
+
121 RCLCPP_DEBUG(get_node()->get_logger(), "Parameter '%s' is read only.", ros_parameter.get_name().c_str());
+
122 continue;
+
123 }
+
124
+
125 // convert the ROS parameter into a ParameterInterface without modifying the original
+
126 auto new_parameter = translators::read_parameter_const(ros_parameter, parameter);
+
127 if (!this->validate_parameter(new_parameter)) {
+
128 result.successful = false;
+
129 result.reason += "Validation of parameter '" + ros_parameter.get_name() + "' returned false!";
+
130 } else if (!new_parameter->is_empty()) {
+
131 // update the value of the parameter in the map
+
132 translators::copy_parameter_value(new_parameter, parameter);
+
133 ros_parameter = translators::write_parameter(new_parameter);
+
134 }
+
135 } catch (const std::exception& ex) {
+
136 result.successful = false;
+
137 result.reason += ex.what();
+
138 }
+
139 }
+
140 set_parameters_result_ = result;
+
141}
+
142
+
143rcl_interfaces::msg::SetParametersResult
+
144BaseControllerInterface::on_set_parameters_callback(const std::vector<rclcpp::Parameter>&) {
+
145 auto result = set_parameters_result_;
+
146 set_parameters_result_.successful = true;
+
147 set_parameters_result_.reason = "";
+
148 return result;
+
149}
+
150
+
151bool BaseControllerInterface::validate_parameter(const std::shared_ptr<ParameterInterface>& parameter) {
+
152 if (parameter->get_name() == "activation_timeout" || parameter->get_name() == "input_validity_period") {
+
153 auto value = parameter->get_parameter_value<double>();
+
154 if (value < 0.0 || value > std::numeric_limits<double>::max()) {
+
155 RCLCPP_ERROR(
+
156 get_node()->get_logger(), "Parameter value of parameter '%s' should be a positive finite number",
+
157 parameter->get_name().c_str());
+
158 return false;
+
159 }
+
160 }
+
161 return on_validate_parameter_callback(parameter);
+
162}
+
163
+
+
164bool BaseControllerInterface::on_validate_parameter_callback(const std::shared_ptr<ParameterInterface>&) {
+
165 return true;
166}
+
167
-
168bool BaseControllerInterface::on_validate_parameter_callback(const std::shared_ptr<ParameterInterface>&) {
-
169 return true;
+
168void BaseControllerInterface::add_predicate(const std::string& predicate_name, bool predicate_value) {
+
169 add_predicate(predicate_name, [predicate_value]() { return predicate_value; });
170}
171
-
172void BaseControllerInterface::add_predicate(const std::string& predicate_name, bool predicate_value) {
-
173 add_predicate(predicate_name, [predicate_value]() { return predicate_value; });
-
174}
-
-
175
-
-
176void BaseControllerInterface::add_predicate(
-
177 const std::string& predicate_name, const std::function<bool(void)>& predicate_function) {
-
178 if (predicate_name.empty()) {
-
179 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add predicate: Provide a non empty string as a name.");
-
180 return;
-
181 }
-
182 if (predicates_.find(predicate_name) != predicates_.end()) {
-
183 RCLCPP_WARN(
-
184 get_node()->get_logger(), "Predicate with name '%s' already exists, overwriting.", predicate_name.c_str());
-
185 } else {
-
186 RCLCPP_DEBUG(get_node()->get_logger(), "Adding predicate '%s'.", predicate_name.c_str());
-
187 }
-
188 try {
-
189 this->predicates_.insert_or_assign(predicate_name, Predicate(predicate_function));
-
190 } catch (const std::exception& ex) {
-
191 RCLCPP_ERROR(
-
192 get_node()->get_logger(), "Failed to evaluate callback of predicate '%s', returning false: %s",
-
193 predicate_name.c_str(), ex.what());
-
194 }
-
195}
-
-
196
-
-
197bool BaseControllerInterface::get_predicate(const std::string& predicate_name) const {
-
198 auto predicate_it = predicates_.find(predicate_name);
-
199 if (predicate_it == predicates_.end()) {
-
200 RCLCPP_ERROR_THROTTLE(
-
201 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
202 "Failed to get predicate '%s': Predicate does not exists, returning false.", predicate_name.c_str());
-
203 return false;
-
204 }
-
205 try {
-
206 return predicate_it->second.get_value();
-
207 } catch (const std::exception& ex) {
-
208 RCLCPP_ERROR_THROTTLE(
-
209 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
210 "Failed to evaluate callback of predicate '%s', returning false: %s", predicate_name.c_str(), ex.what());
-
211 }
-
212 return false;
+
172void BaseControllerInterface::add_predicate(
+
173 const std::string& predicate_name, const std::function<bool(void)>& predicate_function) {
+
174 if (predicate_name.empty()) {
+
175 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add predicate: Provide a non empty string as a name.");
+
176 return;
+
177 }
+
178 if (predicates_.find(predicate_name) != predicates_.end()) {
+
179 RCLCPP_WARN(
+
180 get_node()->get_logger(), "Predicate with name '%s' already exists, overwriting.", predicate_name.c_str());
+
181 } else {
+
182 RCLCPP_DEBUG(get_node()->get_logger(), "Adding predicate '%s'.", predicate_name.c_str());
+
183 }
+
184 try {
+
185 this->predicates_.insert_or_assign(predicate_name, Predicate(predicate_function));
+
186 } catch (const std::exception& ex) {
+
187 RCLCPP_ERROR(
+
188 get_node()->get_logger(), "Failed to evaluate callback of predicate '%s', returning false: %s",
+
189 predicate_name.c_str(), ex.what());
+
190 }
+
191}
+
+
192
+
+
193bool BaseControllerInterface::get_predicate(const std::string& predicate_name) const {
+
194 auto predicate_it = predicates_.find(predicate_name);
+
195 if (predicate_it == predicates_.end()) {
+
196 RCLCPP_ERROR_THROTTLE(
+
197 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
198 "Failed to get predicate '%s': Predicate does not exists, returning false.", predicate_name.c_str());
+
199 return false;
+
200 }
+
201 try {
+
202 return predicate_it->second.get_value();
+
203 } catch (const std::exception& ex) {
+
204 RCLCPP_ERROR_THROTTLE(
+
205 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
206 "Failed to evaluate callback of predicate '%s', returning false: %s", predicate_name.c_str(), ex.what());
+
207 }
+
208 return false;
+
209}
+
+
210
+
+
211void BaseControllerInterface::set_predicate(const std::string& predicate_name, bool predicate_value) {
+
212 set_predicate(predicate_name, [predicate_value]() { return predicate_value; });
213}
214
-
215void BaseControllerInterface::set_predicate(const std::string& predicate_name, bool predicate_value) {
-
216 set_predicate(predicate_name, [predicate_value]() { return predicate_value; });
-
217}
-
-
218
-
-
219void BaseControllerInterface::set_predicate(
-
220 const std::string& predicate_name, const std::function<bool(void)>& predicate_function) {
-
221 auto predicate_it = predicates_.find(predicate_name);
-
222 if (predicate_it == predicates_.end()) {
-
223 RCLCPP_ERROR_THROTTLE(
-
224 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
225 "Failed to set predicate '%s': Predicate does not exist.", predicate_name.c_str());
-
226 return;
+
215void BaseControllerInterface::set_predicate(
+
216 const std::string& predicate_name, const std::function<bool(void)>& predicate_function) {
+
217 auto predicate_it = predicates_.find(predicate_name);
+
218 if (predicate_it == predicates_.end()) {
+
219 RCLCPP_ERROR_THROTTLE(
+
220 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
221 "Failed to set predicate '%s': Predicate does not exist.", predicate_name.c_str());
+
222 return;
+
223 }
+
224 predicate_it->second.set_predicate(predicate_function);
+
225 if (auto new_predicate = predicate_it->second.query(); new_predicate) {
+
226 publish_predicate(predicate_name, *new_predicate);
227 }
-
228 predicate_it->second.set_predicate(predicate_function);
-
229 if (auto new_predicate = predicate_it->second.query(); new_predicate) {
-
230 publish_predicate(predicate_name, *new_predicate);
-
231 }
-
232}
-
-
233
-
-
234void BaseControllerInterface::add_trigger(const std::string& trigger_name) {
-
235 if (trigger_name.empty()) {
-
236 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add trigger: Provide a non empty string as a name.");
-
237 return;
-
238 }
-
239 if (std::find(triggers_.cbegin(), triggers_.cend(), trigger_name) != triggers_.cend()) {
-
240 RCLCPP_ERROR(
-
241 get_node()->get_logger(), "Failed to add trigger: there is already a trigger with name '%s'.",
-
242 trigger_name.c_str());
-
243 return;
-
244 }
-
245 if (predicates_.find(trigger_name) != predicates_.end()) {
-
246 RCLCPP_ERROR(
-
247 get_node()->get_logger(), "Failed to add trigger: there is already a predicate with name '%s'.",
-
248 trigger_name.c_str());
-
249 return;
-
250 }
-
251 triggers_.push_back(trigger_name);
-
252 add_predicate(trigger_name, false);
-
253}
-
-
254
-
-
255void BaseControllerInterface::trigger(const std::string& trigger_name) {
-
256 if (std::find(triggers_.cbegin(), triggers_.cend(), trigger_name) == triggers_.cend()) {
-
257 RCLCPP_ERROR(
-
258 get_node()->get_logger(), "Failed to trigger: could not find trigger with name '%s'.", trigger_name.c_str());
-
259 return;
-
260 }
-
261 set_predicate(trigger_name, true);
-
262 // reset the trigger to be published on the next step
-
263 predicates_.at(trigger_name).set_predicate([]() { return false; });
-
264}
-
-
265
-
266modulo_interfaces::msg::Predicate
-
267BaseControllerInterface::get_predicate_message(const std::string& name, bool value) const {
-
268 modulo_interfaces::msg::Predicate message;
-
269 message.predicate = name;
-
270 message.value = value;
-
271 return message;
-
272}
-
273
-
274void BaseControllerInterface::publish_predicate(const std::string& predicate_name, bool value) const {
-
275 auto message(predicate_message_);
-
276 message.predicates.push_back(get_predicate_message(predicate_name, value));
-
277 predicate_publisher_->publish(message);
-
278}
-
279
-
280void BaseControllerInterface::publish_predicates() {
-
281 auto message(predicate_message_);
-
282 for (auto predicate_it = predicates_.begin(); predicate_it != predicates_.end(); ++predicate_it) {
-
283 if (auto new_predicate = predicate_it->second.query(); new_predicate) {
-
284 message.predicates.push_back(get_predicate_message(predicate_it->first, *new_predicate));
-
285 }
-
286 }
-
287 if (message.predicates.size()) {
-
288 predicate_publisher_->publish(message);
-
289 }
-
290}
-
291
-
292std::string BaseControllerInterface::validate_and_declare_signal(
-
293 const std::string& signal_name, const std::string& type, const std::string& default_topic, bool fixed_topic) {
-
294 auto parsed_signal_name = modulo_utils::parsing::parse_topic_name(signal_name);
-
295 if (parsed_signal_name.empty()) {
-
296 RCLCPP_WARN(
-
297 get_node()->get_logger(),
-
298 "The parsed signal name for %s '%s' is empty. Provide a string with valid characters for the signal name "
-
299 "([a-zA-Z0-9_]).",
-
300 type.c_str(), signal_name.c_str());
-
301 return "";
-
302 }
-
303 if (signal_name != parsed_signal_name) {
-
304 RCLCPP_WARN(
-
305 get_node()->get_logger(),
-
306 "The parsed signal name for %s '%s' is '%s'. Use the parsed signal name to refer to this %s and its topic "
-
307 "parameter.",
-
308 type.c_str(), signal_name.c_str(), parsed_signal_name.c_str(), type.c_str());
+
228}
+
+
229
+
+
230void BaseControllerInterface::add_trigger(const std::string& trigger_name) {
+
231 if (trigger_name.empty()) {
+
232 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add trigger: Provide a non empty string as a name.");
+
233 return;
+
234 }
+
235 if (std::find(triggers_.cbegin(), triggers_.cend(), trigger_name) != triggers_.cend()) {
+
236 RCLCPP_ERROR(
+
237 get_node()->get_logger(), "Failed to add trigger: there is already a trigger with name '%s'.",
+
238 trigger_name.c_str());
+
239 return;
+
240 }
+
241 if (predicates_.find(trigger_name) != predicates_.end()) {
+
242 RCLCPP_ERROR(
+
243 get_node()->get_logger(), "Failed to add trigger: there is already a predicate with name '%s'.",
+
244 trigger_name.c_str());
+
245 return;
+
246 }
+
247 triggers_.push_back(trigger_name);
+
248 add_predicate(trigger_name, false);
+
249}
+
+
250
+
+
251void BaseControllerInterface::trigger(const std::string& trigger_name) {
+
252 if (std::find(triggers_.cbegin(), triggers_.cend(), trigger_name) == triggers_.cend()) {
+
253 RCLCPP_ERROR(
+
254 get_node()->get_logger(), "Failed to trigger: could not find trigger with name '%s'.", trigger_name.c_str());
+
255 return;
+
256 }
+
257 set_predicate(trigger_name, true);
+
258 // reset the trigger to be published on the next step
+
259 predicates_.at(trigger_name).set_predicate([]() { return false; });
+
260}
+
+
261
+
262modulo_interfaces::msg::Predicate
+
263BaseControllerInterface::get_predicate_message(const std::string& name, bool value) const {
+
264 modulo_interfaces::msg::Predicate message;
+
265 message.predicate = name;
+
266 message.value = value;
+
267 return message;
+
268}
+
269
+
270void BaseControllerInterface::publish_predicate(const std::string& predicate_name, bool value) const {
+
271 auto message(predicate_message_);
+
272 message.predicates.push_back(get_predicate_message(predicate_name, value));
+
273 predicate_publisher_->publish(message);
+
274}
+
275
+
276void BaseControllerInterface::publish_predicates() {
+
277 auto message(predicate_message_);
+
278 for (auto predicate_it = predicates_.begin(); predicate_it != predicates_.end(); ++predicate_it) {
+
279 if (auto new_predicate = predicate_it->second.query(); new_predicate) {
+
280 message.predicates.push_back(get_predicate_message(predicate_it->first, *new_predicate));
+
281 }
+
282 }
+
283 if (message.predicates.size()) {
+
284 predicate_publisher_->publish(message);
+
285 }
+
286}
+
287
+
288std::string BaseControllerInterface::validate_and_declare_signal(
+
289 const std::string& signal_name, const std::string& type, const std::string& default_topic, bool fixed_topic) {
+
290 auto parsed_signal_name = modulo_utils::parsing::parse_topic_name(signal_name);
+
291 if (parsed_signal_name.empty()) {
+
292 RCLCPP_WARN(
+
293 get_node()->get_logger(),
+
294 "The parsed signal name for %s '%s' is empty. Provide a string with valid characters for the signal name "
+
295 "([a-zA-Z0-9_]).",
+
296 type.c_str(), signal_name.c_str());
+
297 return "";
+
298 }
+
299 if (signal_name != parsed_signal_name) {
+
300 RCLCPP_WARN(
+
301 get_node()->get_logger(),
+
302 "The parsed signal name for %s '%s' is '%s'. Use the parsed signal name to refer to this %s and its topic "
+
303 "parameter.",
+
304 type.c_str(), signal_name.c_str(), parsed_signal_name.c_str(), type.c_str());
+
305 }
+
306 if (inputs_.find(parsed_signal_name) != inputs_.end()) {
+
307 RCLCPP_WARN(get_node()->get_logger(), "Signal '%s' already exists as input.", parsed_signal_name.c_str());
+
308 return "";
309 }
-
310 if (inputs_.find(parsed_signal_name) != inputs_.end()) {
-
311 RCLCPP_WARN(get_node()->get_logger(), "Signal '%s' already exists as input.", parsed_signal_name.c_str());
+
310 if (outputs_.find(parsed_signal_name) != outputs_.end()) {
+
311 RCLCPP_WARN(get_node()->get_logger(), "Signal '%s' already exists as output", parsed_signal_name.c_str());
312 return "";
313 }
-
314 if (outputs_.find(parsed_signal_name) != outputs_.end()) {
-
315 RCLCPP_WARN(get_node()->get_logger(), "Signal '%s' already exists as output", parsed_signal_name.c_str());
-
316 return "";
-
317 }
-
318 auto topic = default_topic.empty() ? "~/" + parsed_signal_name : default_topic;
-
319 auto parameter_name = parsed_signal_name + "_topic";
-
320 if (get_node()->has_parameter(parameter_name) && get_parameter(parameter_name)->is_empty()) {
-
321 set_parameter_value<std::string>(parameter_name, topic);
-
322 } else {
-
323 add_parameter<std::string>(
-
324 parameter_name, topic, "Signal topic name of " + type + " '" + parsed_signal_name + "'", fixed_topic);
-
325 }
-
326 RCLCPP_DEBUG(
-
327 get_node()->get_logger(), "Declared %s '%s' and parameter '%s' with value '%s'.", type.c_str(),
-
328 parsed_signal_name.c_str(), parameter_name.c_str(), topic.c_str());
-
329 return parsed_signal_name;
-
330}
-
331
-
332void BaseControllerInterface::create_input(
-
333 const ControllerInput& input, const std::string& name, const std::string& topic_name) {
-
334 auto parsed_name = validate_and_declare_signal(name, "input", topic_name);
-
335 if (!parsed_name.empty()) {
-
336 inputs_.insert_or_assign(parsed_name, input);
-
337 }
-
338}
-
339
-
340void BaseControllerInterface::add_inputs() {
-
341 for (auto& [name, input] : inputs_) {
-
342 try {
-
343 auto topic = get_parameter_value<std::string>(name + "_topic");
-
344 std::visit(
-
345 overloaded{
-
346 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<EncodedState>>&) {
-
347 subscriptions_.push_back(create_subscription<EncodedState>(name, topic));
-
348 },
-
349 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Bool>>&) {
-
350 subscriptions_.push_back(create_subscription<std_msgs::msg::Bool>(name, topic));
-
351 },
-
352 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64>>&) {
-
353 subscriptions_.push_back(create_subscription<std_msgs::msg::Float64>(name, topic));
-
354 },
-
355 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64MultiArray>>&) {
-
356 subscriptions_.push_back(create_subscription<std_msgs::msg::Float64MultiArray>(name, topic));
-
357 },
-
358 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Int32>>&) {
-
359 subscriptions_.push_back(create_subscription<std_msgs::msg::Int32>(name, topic));
-
360 },
-
361 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::String>>&) {
-
362 subscriptions_.push_back(create_subscription<std_msgs::msg::String>(name, topic));
-
363 },
-
364 [&](const std::any&) {
-
365 custom_input_configuration_callables_.at(name)(name, topic);
-
366 }},
-
367 input.buffer);
-
368 } catch (const std::exception& ex) {
-
369 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add input '%s': %s", name.c_str(), ex.what());
-
370 }
-
371 }
-
372}
-
373
-
374void BaseControllerInterface::create_output(
-
375 const PublisherVariant& publishers, const std::string& name, const std::string& topic_name) {
-
376 auto parsed_name = validate_and_declare_signal(name, "output", topic_name);
-
377 if (!parsed_name.empty()) {
-
378 outputs_.insert_or_assign(parsed_name, publishers);
-
379 }
-
380}
-
381
-
382void BaseControllerInterface::add_outputs() {
-
383 for (auto& [name, publishers] : outputs_) {
-
384 try {
-
385 auto topic = get_parameter_value<std::string>(name + "_topic");
-
386 std::visit(
-
387 overloaded{
-
388 [&](EncodedStatePublishers& pub) {
-
389 std::get<1>(pub) = get_node()->create_publisher<EncodedState>(topic, qos_);
-
390 std::get<2>(pub) = std::make_shared<realtime_tools::RealtimePublisher<EncodedState>>(std::get<1>(pub));
+
314 auto topic = default_topic.empty() ? "~/" + parsed_signal_name : default_topic;
+
315 auto parameter_name = parsed_signal_name + "_topic";
+
316 if (get_node()->has_parameter(parameter_name) && get_parameter(parameter_name)->is_empty()) {
+
317 set_parameter_value<std::string>(parameter_name, topic);
+
318 } else {
+
319 add_parameter<std::string>(
+
320 parameter_name, topic, "Signal topic name of " + type + " '" + parsed_signal_name + "'", fixed_topic);
+
321 }
+
322 RCLCPP_DEBUG(
+
323 get_node()->get_logger(), "Declared %s '%s' and parameter '%s' with value '%s'.", type.c_str(),
+
324 parsed_signal_name.c_str(), parameter_name.c_str(), topic.c_str());
+
325 return parsed_signal_name;
+
326}
+
327
+
328void BaseControllerInterface::create_input(
+
329 const ControllerInput& input, const std::string& name, const std::string& topic_name) {
+
330 auto parsed_name = validate_and_declare_signal(name, "input", topic_name);
+
331 if (!parsed_name.empty()) {
+
332 inputs_.insert_or_assign(parsed_name, input);
+
333 }
+
334}
+
335
+
336void BaseControllerInterface::add_inputs() {
+
337 for (auto& [name, input] : inputs_) {
+
338 try {
+
339 auto topic = get_parameter_value<std::string>(name + "_topic");
+
340 std::visit(
+
341 overloaded{
+
342 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<EncodedState>>&) {
+
343 subscriptions_.push_back(create_subscription<EncodedState>(name, topic));
+
344 },
+
345 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Bool>>&) {
+
346 subscriptions_.push_back(create_subscription<std_msgs::msg::Bool>(name, topic));
+
347 },
+
348 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64>>&) {
+
349 subscriptions_.push_back(create_subscription<std_msgs::msg::Float64>(name, topic));
+
350 },
+
351 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64MultiArray>>&) {
+
352 subscriptions_.push_back(create_subscription<std_msgs::msg::Float64MultiArray>(name, topic));
+
353 },
+
354 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Int32>>&) {
+
355 subscriptions_.push_back(create_subscription<std_msgs::msg::Int32>(name, topic));
+
356 },
+
357 [&](const realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::String>>&) {
+
358 subscriptions_.push_back(create_subscription<std_msgs::msg::String>(name, topic));
+
359 },
+
360 [&](const std::any&) {
+
361 custom_input_configuration_callables_.at(name)(name, topic);
+
362 }},
+
363 input.buffer);
+
364 } catch (const std::exception& ex) {
+
365 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add input '%s': %s", name.c_str(), ex.what());
+
366 }
+
367 }
+
368}
+
369
+
370void BaseControllerInterface::create_output(
+
371 const PublisherVariant& publishers, const std::string& name, const std::string& topic_name) {
+
372 auto parsed_name = validate_and_declare_signal(name, "output", topic_name);
+
373 if (!parsed_name.empty()) {
+
374 outputs_.insert_or_assign(parsed_name, publishers);
+
375 }
+
376}
+
377
+
378void BaseControllerInterface::add_outputs() {
+
379 for (auto& [name, publishers] : outputs_) {
+
380 try {
+
381 auto topic = get_parameter_value<std::string>(name + "_topic");
+
382 std::visit(
+
383 overloaded{
+
384 [&](EncodedStatePublishers& pub) {
+
385 std::get<1>(pub) = get_node()->create_publisher<EncodedState>(topic, qos_);
+
386 std::get<2>(pub) = std::make_shared<realtime_tools::RealtimePublisher<EncodedState>>(std::get<1>(pub));
+
387 },
+
388 [&](BoolPublishers& pub) {
+
389 pub.first = get_node()->create_publisher<std_msgs::msg::Bool>(topic, qos_);
+
390 pub.second = std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Bool>>(pub.first);
391 },
-
392 [&](BoolPublishers& pub) {
-
393 pub.first = get_node()->create_publisher<std_msgs::msg::Bool>(topic, qos_);
-
394 pub.second = std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Bool>>(pub.first);
+
392 [&](DoublePublishers& pub) {
+
393 pub.first = get_node()->create_publisher<std_msgs::msg::Float64>(topic, qos_);
+
394 pub.second = std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Float64>>(pub.first);
395 },
-
396 [&](DoublePublishers& pub) {
-
397 pub.first = get_node()->create_publisher<std_msgs::msg::Float64>(topic, qos_);
-
398 pub.second = std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Float64>>(pub.first);
-
399 },
-
400 [&](DoubleVecPublishers& pub) {
-
401 pub.first = get_node()->create_publisher<std_msgs::msg::Float64MultiArray>(topic, qos_);
-
402 pub.second =
-
403 std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Float64MultiArray>>(pub.first);
+
396 [&](DoubleVecPublishers& pub) {
+
397 pub.first = get_node()->create_publisher<std_msgs::msg::Float64MultiArray>(topic, qos_);
+
398 pub.second =
+
399 std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Float64MultiArray>>(pub.first);
+
400 },
+
401 [&](IntPublishers& pub) {
+
402 pub.first = get_node()->create_publisher<std_msgs::msg::Int32>(topic, qos_);
+
403 pub.second = std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Int32>>(pub.first);
404 },
-
405 [&](IntPublishers& pub) {
-
406 pub.first = get_node()->create_publisher<std_msgs::msg::Int32>(topic, qos_);
-
407 pub.second = std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Int32>>(pub.first);
+
405 [&](StringPublishers& pub) {
+
406 pub.first = get_node()->create_publisher<std_msgs::msg::String>(topic, qos_);
+
407 pub.second = std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::String>>(pub.first);
408 },
-
409 [&](StringPublishers& pub) {
-
410 pub.first = get_node()->create_publisher<std_msgs::msg::String>(topic, qos_);
-
411 pub.second = std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::String>>(pub.first);
-
412 },
-
413 [&](CustomPublishers& pub) {
-
414 custom_output_configuration_callables_.at(name)(pub, name);
-
415 }},
-
416 publishers);
-
417 } catch (const std::bad_any_cast& ex) {
-
418 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add custom output '%s': %s", name.c_str(), ex.what());
-
419 } catch (const std::exception& ex) {
-
420 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add output '%s': %s", name.c_str(), ex.what());
-
421 }
-
422 }
+
409 [&](CustomPublishers& pub) {
+
410 custom_output_configuration_callables_.at(name)(pub, name);
+
411 }},
+
412 publishers);
+
413 } catch (const std::bad_any_cast& ex) {
+
414 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add custom output '%s': %s", name.c_str(), ex.what());
+
415 } catch (const std::exception& ex) {
+
416 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add output '%s': %s", name.c_str(), ex.what());
+
417 }
+
418 }
+
419}
+
420
+
+
421void BaseControllerInterface::set_input_validity_period(double input_validity_period) {
+
422 input_validity_period_ = input_validity_period;
423}
-
424
-
-
425void BaseControllerInterface::set_input_validity_period(double input_validity_period) {
-
426 input_validity_period_ = input_validity_period;
-
427}
-
428
-
429bool BaseControllerInterface::check_input_valid(const std::string& name) const {
-
430 if (inputs_.find(name) == inputs_.end()) {
-
431 RCLCPP_WARN_THROTTLE(
-
432 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Could not find input '%s'", name.c_str());
-
433 return false;
-
434 }
-
435 if (static_cast<double>(std::chrono::duration_cast<std::chrono::nanoseconds>(
-
436 std::chrono::steady_clock::now() - inputs_.at(name).timestamp)
-
437 .count())
-
438 / 1e9
-
439 >= input_validity_period_) {
-
440 return false;
-
441 }
-
442 return true;
-
443}
-
444
-
445std::string
-
446BaseControllerInterface::validate_service_name(const std::string& service_name, const std::string& type) const {
-
447 std::string parsed_service_name = modulo_utils::parsing::parse_topic_name(service_name);
-
448 if (parsed_service_name.empty()) {
-
449 RCLCPP_WARN(
-
450 get_node()->get_logger(),
-
451 "The parsed service name for %s service '%s' is empty. Provide a string with valid characters for the service "
-
452 "name "
-
453 "([a-zA-Z0-9_]).",
-
454 type.c_str(), service_name.c_str());
-
455 return "";
-
456 }
-
457 if (service_name != parsed_service_name) {
-
458 RCLCPP_WARN(
-
459 get_node()->get_logger(),
-
460 "The parsed name for '%s' service '%s' is '%s'. Use the parsed name to refer to this service.", type.c_str(),
-
461 service_name.c_str(), parsed_service_name.c_str());
-
462 }
-
463 if (empty_services_.find(parsed_service_name) != empty_services_.cend()) {
-
464 RCLCPP_WARN(
-
465 get_node()->get_logger(), "Service with name '%s' already exists as empty service.",
-
466 parsed_service_name.c_str());
-
467 return "";
-
468 }
-
469 if (string_services_.find(parsed_service_name) != string_services_.cend()) {
-
470 RCLCPP_WARN(
-
471 get_node()->get_logger(), "Service with name '%s' already exists as string service.",
-
472 parsed_service_name.c_str());
-
473 return "";
-
474 }
-
475 RCLCPP_DEBUG(get_node()->get_logger(), "Adding %s service '%s'.", type.c_str(), parsed_service_name.c_str());
-
476 return parsed_service_name;
-
477}
-
478
-
-
479void BaseControllerInterface::add_service(
-
480 const std::string& service_name, const std::function<ControllerServiceResponse(void)>& callback) {
-
481 auto parsed_service_name = validate_service_name(service_name, "empty");
-
482 if (!parsed_service_name.empty()) {
-
483 try {
-
484 auto service = get_node()->create_service<modulo_interfaces::srv::EmptyTrigger>(
-
485 "~/" + parsed_service_name,
-
486 [this, callback](
-
487 const std::shared_ptr<modulo_interfaces::srv::EmptyTrigger::Request>,
-
488 std::shared_ptr<modulo_interfaces::srv::EmptyTrigger::Response> response) {
-
489 try {
-
490 if (this->command_mutex_.try_lock_for(100ms)) {
-
491 auto callback_response = callback();
-
492 this->command_mutex_.unlock();
-
493 response->success = callback_response.success;
-
494 response->message = callback_response.message;
-
495 } else {
-
496 response->success = false;
-
497 response->message = "Unable to acquire lock for command interface within 100ms";
-
498 }
-
499 } catch (const std::exception& ex) {
-
500 response->success = false;
-
501 response->message = ex.what();
-
502 }
-
503 },
-
504 qos_);
-
505 empty_services_.insert_or_assign(parsed_service_name, service);
-
506 } catch (const std::exception& ex) {
-
507 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add service '%s': %s", parsed_service_name.c_str(), ex.what());
-
508 }
-
509 }
-
510}
-
-
511
-
-
512void BaseControllerInterface::add_service(
-
513 const std::string& service_name,
-
514 const std::function<ControllerServiceResponse(const std::string& string)>& callback) {
-
515 auto parsed_service_name = validate_service_name(service_name, "string");
-
516 if (!parsed_service_name.empty()) {
-
517 try {
-
518 auto service = get_node()->create_service<modulo_interfaces::srv::StringTrigger>(
-
519 "~/" + parsed_service_name,
-
520 [this, callback](
-
521 const std::shared_ptr<modulo_interfaces::srv::StringTrigger::Request> request,
-
522 std::shared_ptr<modulo_interfaces::srv::StringTrigger::Response> response) {
-
523 try {
-
524 if (this->command_mutex_.try_lock_for(100ms)) {
-
525 auto callback_response = callback(request->payload);
-
526 this->command_mutex_.unlock();
-
527 response->success = callback_response.success;
-
528 response->message = callback_response.message;
-
529 } else {
-
530 response->success = false;
-
531 response->message = "Unable to acquire lock for command interface within 100ms";
-
532 }
-
533 } catch (const std::exception& ex) {
-
534 response->success = false;
-
535 response->message = ex.what();
-
536 }
-
537 },
-
538 qos_);
-
539 string_services_.insert_or_assign(parsed_service_name, service);
-
540 } catch (const std::exception& ex) {
-
541 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add service '%s': %s", parsed_service_name.c_str(), ex.what());
-
542 }
-
543 }
+
424
+
425bool BaseControllerInterface::check_input_valid(const std::string& name) const {
+
426 if (inputs_.find(name) == inputs_.end()) {
+
427 RCLCPP_WARN_THROTTLE(
+
428 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Could not find input '%s'", name.c_str());
+
429 return false;
+
430 }
+
431 if (static_cast<double>(std::chrono::duration_cast<std::chrono::nanoseconds>(
+
432 std::chrono::steady_clock::now() - inputs_.at(name).timestamp)
+
433 .count())
+
434 / 1e9
+
435 >= input_validity_period_) {
+
436 return false;
+
437 }
+
438 return true;
+
439}
+
440
+
441std::string
+
442BaseControllerInterface::validate_service_name(const std::string& service_name, const std::string& type) const {
+
443 std::string parsed_service_name = modulo_utils::parsing::parse_topic_name(service_name);
+
444 if (parsed_service_name.empty()) {
+
445 RCLCPP_WARN(
+
446 get_node()->get_logger(),
+
447 "The parsed service name for %s service '%s' is empty. Provide a string with valid characters for the service "
+
448 "name "
+
449 "([a-zA-Z0-9_]).",
+
450 type.c_str(), service_name.c_str());
+
451 return "";
+
452 }
+
453 if (service_name != parsed_service_name) {
+
454 RCLCPP_WARN(
+
455 get_node()->get_logger(),
+
456 "The parsed name for '%s' service '%s' is '%s'. Use the parsed name to refer to this service.", type.c_str(),
+
457 service_name.c_str(), parsed_service_name.c_str());
+
458 }
+
459 if (empty_services_.find(parsed_service_name) != empty_services_.cend()) {
+
460 RCLCPP_WARN(
+
461 get_node()->get_logger(), "Service with name '%s' already exists as empty service.",
+
462 parsed_service_name.c_str());
+
463 return "";
+
464 }
+
465 if (string_services_.find(parsed_service_name) != string_services_.cend()) {
+
466 RCLCPP_WARN(
+
467 get_node()->get_logger(), "Service with name '%s' already exists as string service.",
+
468 parsed_service_name.c_str());
+
469 return "";
+
470 }
+
471 RCLCPP_DEBUG(get_node()->get_logger(), "Adding %s service '%s'.", type.c_str(), parsed_service_name.c_str());
+
472 return parsed_service_name;
+
473}
+
474
+
+
475void BaseControllerInterface::add_service(
+
476 const std::string& service_name, const std::function<ControllerServiceResponse(void)>& callback) {
+
477 auto parsed_service_name = validate_service_name(service_name, "empty");
+
478 if (!parsed_service_name.empty()) {
+
479 try {
+
480 auto service = get_node()->create_service<modulo_interfaces::srv::EmptyTrigger>(
+
481 "~/" + parsed_service_name,
+
482 [this, callback](
+
483 const std::shared_ptr<modulo_interfaces::srv::EmptyTrigger::Request>,
+
484 std::shared_ptr<modulo_interfaces::srv::EmptyTrigger::Response> response) {
+
485 try {
+
486 if (this->command_mutex_.try_lock_for(100ms)) {
+
487 auto callback_response = callback();
+
488 this->command_mutex_.unlock();
+
489 response->success = callback_response.success;
+
490 response->message = callback_response.message;
+
491 } else {
+
492 response->success = false;
+
493 response->message = "Unable to acquire lock for command interface within 100ms";
+
494 }
+
495 } catch (const std::exception& ex) {
+
496 response->success = false;
+
497 response->message = ex.what();
+
498 }
+
499 },
+
500 qos_);
+
501 empty_services_.insert_or_assign(parsed_service_name, service);
+
502 } catch (const std::exception& ex) {
+
503 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add service '%s': %s", parsed_service_name.c_str(), ex.what());
+
504 }
+
505 }
+
506}
+
+
507
+
+
508void BaseControllerInterface::add_service(
+
509 const std::string& service_name,
+
510 const std::function<ControllerServiceResponse(const std::string& string)>& callback) {
+
511 auto parsed_service_name = validate_service_name(service_name, "string");
+
512 if (!parsed_service_name.empty()) {
+
513 try {
+
514 auto service = get_node()->create_service<modulo_interfaces::srv::StringTrigger>(
+
515 "~/" + parsed_service_name,
+
516 [this, callback](
+
517 const std::shared_ptr<modulo_interfaces::srv::StringTrigger::Request> request,
+
518 std::shared_ptr<modulo_interfaces::srv::StringTrigger::Response> response) {
+
519 try {
+
520 if (this->command_mutex_.try_lock_for(100ms)) {
+
521 auto callback_response = callback(request->payload);
+
522 this->command_mutex_.unlock();
+
523 response->success = callback_response.success;
+
524 response->message = callback_response.message;
+
525 } else {
+
526 response->success = false;
+
527 response->message = "Unable to acquire lock for command interface within 100ms";
+
528 }
+
529 } catch (const std::exception& ex) {
+
530 response->success = false;
+
531 response->message = ex.what();
+
532 }
+
533 },
+
534 qos_);
+
535 string_services_.insert_or_assign(parsed_service_name, service);
+
536 } catch (const std::exception& ex) {
+
537 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add service '%s': %s", parsed_service_name.c_str(), ex.what());
+
538 }
+
539 }
+
540}
+
+
541
+
+
542rclcpp::QoS BaseControllerInterface::get_qos() const {
+
543 return qos_;
544}
545
-
546void BaseControllerInterface::add_tf_listener() {
-
547 if (!is_node_initialized()) {
-
548 throw modulo_core::exceptions::CoreException("Failed to add TF buffer and listener: Node is not initialized yet.");
-
549 }
-
550 if (this->tf_buffer_ == nullptr || this->tf_listener_ == nullptr) {
-
551 RCLCPP_DEBUG(this->get_node()->get_logger(), "Adding TF buffer and listener.");
-
552 console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
-
553 this->tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_node()->get_clock());
-
554 this->tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*this->tf_buffer_);
-
555 } else {
-
556 RCLCPP_DEBUG(this->get_node()->get_logger(), "TF buffer and listener already exist.");
-
557 }
-
558}
-
-
559
-
-
560state_representation::CartesianPose BaseControllerInterface::lookup_transform(
-
561 const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
-
562 const tf2::Duration& duration) {
-
563 auto transform = this->lookup_ros_transform(frame, reference_frame, time_point, duration);
-
564 state_representation::CartesianPose result(frame, reference_frame);
-
565 translators::read_message(result, transform);
-
566 return result;
-
567}
-
-
568
-
-
569state_representation::CartesianPose BaseControllerInterface::lookup_transform(
-
570 const std::string& frame, const std::string& reference_frame, double validity_period,
-
571 const tf2::Duration& duration) {
-
572 auto transform =
-
573 this->lookup_ros_transform(frame, reference_frame, tf2::TimePoint(std::chrono::microseconds(0)), duration);
-
574 if (validity_period > 0.0
-
575 && (this->get_node()->get_clock()->now() - transform.header.stamp).seconds() > validity_period) {
-
576 throw modulo_core::exceptions::LookupTransformException("Failed to lookup transform: Latest transform is too old!");
-
577 }
-
578 state_representation::CartesianPose result(frame, reference_frame);
-
579 translators::read_message(result, transform);
-
580 return result;
-
581}
-
-
582
-
583geometry_msgs::msg::TransformStamped BaseControllerInterface::lookup_ros_transform(
-
584 const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
-
585 const tf2::Duration& duration) {
-
586 if (this->tf_buffer_ == nullptr || this->tf_listener_ == nullptr) {
-
587 throw modulo_core::exceptions::LookupTransformException(
-
588 "Failed to lookup transform: No TF buffer / listener configured.");
-
589 }
-
590 try {
-
591 return this->tf_buffer_->lookupTransform(reference_frame, frame, time_point, duration);
-
592 } catch (const tf2::TransformException& ex) {
-
593 throw modulo_core::exceptions::LookupTransformException(
-
594 std::string("Failed to lookup transform: ").append(ex.what()));
-
595 }
-
596}
-
597
-
-
598void BaseControllerInterface::add_tf_broadcaster() {
-
599 if (!is_node_initialized()) {
-
600 throw modulo_core::exceptions::CoreException("Failed to add TF broadcaster: Node is not initialized yet.");
-
601 }
-
602 if (this->tf_broadcaster_ == nullptr) {
-
603 RCLCPP_DEBUG(this->get_node()->get_logger(), "Adding TF broadcaster.");
-
604 console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
-
605 this->tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(get_node());
-
606 } else {
-
607 RCLCPP_DEBUG(this->get_node()->get_logger(), "TF broadcaster already exists.");
-
608 }
-
609}
-
-
610
-
-
611void BaseControllerInterface::add_static_tf_broadcaster() {
-
612 if (!is_node_initialized()) {
-
613 throw modulo_core::exceptions::CoreException("Failed to add static TF broadcaster: Node is not initialized yet.");
-
614 }
-
615 if (this->static_tf_broadcaster_ == nullptr) {
-
616 RCLCPP_DEBUG(this->get_node()->get_logger(), "Adding static TF broadcaster.");
-
617 console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
-
618 this->static_tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(get_node());
-
619 } else {
-
620 RCLCPP_DEBUG(this->get_node()->get_logger(), "Static TF broadcaster already exists.");
-
621 }
-
622}
-
-
623
-
-
624void BaseControllerInterface::send_transform(const state_representation::CartesianPose& transform) {
-
625 this->send_transforms(std::vector<state_representation::CartesianPose>{transform});
-
626}
-
-
627
-
-
628void BaseControllerInterface::send_transforms(const std::vector<state_representation::CartesianPose>& transforms) {
-
629 this->publish_transforms(transforms, this->tf_broadcaster_);
-
630}
-
-
631
-
-
632void BaseControllerInterface::send_static_transform(const state_representation::CartesianPose& transform) {
-
633 this->send_static_transforms(std::vector<state_representation::CartesianPose>{transform});
-
634}
-
-
635
-
-
636void BaseControllerInterface::send_static_transforms(
-
637 const std::vector<state_representation::CartesianPose>& transforms) {
-
638 this->publish_transforms(transforms, this->static_tf_broadcaster_, true);
-
639}
-
-
640
-
-
641rclcpp::QoS BaseControllerInterface::get_qos() const {
-
642 return qos_;
-
643}
-
-
644
-
-
645void BaseControllerInterface::set_qos(const rclcpp::QoS& qos) {
-
646 qos_ = qos;
-
647}
-
-
648
-
-
649bool BaseControllerInterface::is_active() const {
-
650 return get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE;
-
651}
-
-
652
-
-
653std::timed_mutex& BaseControllerInterface::get_command_mutex() {
-
654 return command_mutex_;
-
655}
-
-
656
-
-
657bool BaseControllerInterface::is_node_initialized() const {
-
658 try {
-
659 get_node();
-
660 return true;
-
661 } catch (const std::runtime_error&) {
-
662 return false;
-
663 }
-
664}
-
-
665
-
666}// namespace modulo_controllers
-
modulo_controllers::BaseControllerInterface::send_static_transform
void send_static_transform(const state_representation::CartesianPose &transform)
Send a static transform to TF.
Definition BaseControllerInterface.cpp:632
-
modulo_controllers::BaseControllerInterface::get_parameter
std::shared_ptr< state_representation::ParameterInterface > get_parameter(const std::string &name) const
Get a parameter by name.
Definition BaseControllerInterface.cpp:106
-
modulo_controllers::BaseControllerInterface::on_configure
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
Add signals.
Definition BaseControllerInterface.cpp:43
-
modulo_controllers::BaseControllerInterface::add_static_tf_broadcaster
void add_static_tf_broadcaster()
Configure a static transform broadcaster.
Definition BaseControllerInterface.cpp:611
-
modulo_controllers::BaseControllerInterface::get_qos
rclcpp::QoS get_qos() const
Getter of the Quality of Service attribute.
Definition BaseControllerInterface.cpp:641
-
modulo_controllers::BaseControllerInterface::send_static_transforms
void send_static_transforms(const std::vector< state_representation::CartesianPose > &transforms)
Send a vector of static transforms to TF.
Definition BaseControllerInterface.cpp:636
-
modulo_controllers::BaseControllerInterface::lookup_transform
state_representation::CartesianPose lookup_transform(const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration)
Look up a transform from TF.
Definition BaseControllerInterface.cpp:560
-
modulo_controllers::BaseControllerInterface::add_tf_broadcaster
void add_tf_broadcaster()
Configure a transform broadcaster.
Definition BaseControllerInterface.cpp:598
-
modulo_controllers::BaseControllerInterface::is_active
bool is_active() const
Check if the controller is currently in state active or not.
Definition BaseControllerInterface.cpp:649
-
modulo_controllers::BaseControllerInterface::send_transform
void send_transform(const state_representation::CartesianPose &transform)
Send a transform to TF.
Definition BaseControllerInterface.cpp:624
-
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:606
-
modulo_controllers::BaseControllerInterface::set_input_validity_period
void set_input_validity_period(double input_validity_period)
Set the input validity period of input signals.
Definition BaseControllerInterface.cpp:425
-
modulo_controllers::BaseControllerInterface::on_init
CallbackReturn on_init() override
Declare parameters and register the on_set_parameters callback.
Definition BaseControllerInterface.cpp:29
+
546void BaseControllerInterface::set_qos(const rclcpp::QoS& qos) {
+
547 qos_ = qos;
+
548}
+
+
549
+
+
550bool BaseControllerInterface::is_active() const {
+
551 return get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE;
+
552}
+
+
553
+
+
554std::timed_mutex& BaseControllerInterface::get_command_mutex() {
+
555 return command_mutex_;
+
556}
+
+
557
+
558}// namespace modulo_controllers
+
modulo_controllers::BaseControllerInterface::get_parameter
std::shared_ptr< state_representation::ParameterInterface > get_parameter(const std::string &name) const
Get a parameter by name.
Definition BaseControllerInterface.cpp:102
+
modulo_controllers::BaseControllerInterface::on_configure
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
Add signals.
Definition BaseControllerInterface.cpp:39
+
modulo_controllers::BaseControllerInterface::get_qos
rclcpp::QoS get_qos() const
Getter of the Quality of Service attribute.
Definition BaseControllerInterface.cpp:542
+
modulo_controllers::BaseControllerInterface::is_active
bool is_active() const
Check if the controller is currently in state active or not.
Definition BaseControllerInterface.cpp:550
+
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:498
+
modulo_controllers::BaseControllerInterface::set_input_validity_period
void set_input_validity_period(double input_validity_period)
Set the input validity period of input signals.
Definition BaseControllerInterface.cpp:421
+
modulo_controllers::BaseControllerInterface::on_init
CallbackReturn on_init() override
Declare parameters and register the on_set_parameters callback.
Definition BaseControllerInterface.cpp:25
modulo_controllers::BaseControllerInterface::add_parameter
void add_parameter(const std::shared_ptr< state_representation::ParameterInterface > &parameter, const std::string &description, bool read_only=false)
Add a parameter.
-
modulo_controllers::BaseControllerInterface::trigger
void trigger(const std::string &trigger_name)
Latch the trigger with the provided name.
Definition BaseControllerInterface.cpp:255
-
modulo_controllers::BaseControllerInterface::set_qos
void set_qos(const rclcpp::QoS &qos)
Set the Quality of Service for ROS publishers and subscribers.
Definition BaseControllerInterface.cpp:645
-
modulo_controllers::BaseControllerInterface::add_tf_listener
void add_tf_listener()
Configure a transform buffer and listener.
Definition BaseControllerInterface.cpp:546
-
modulo_controllers::BaseControllerInterface::set_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...
Definition BaseControllerInterface.cpp:215
-
modulo_controllers::BaseControllerInterface::add_predicate
void add_predicate(const std::string &predicate_name, bool predicate_value)
Add a predicate to the map of predicates.
Definition BaseControllerInterface.cpp:172
-
modulo_controllers::BaseControllerInterface::get_predicate
bool get_predicate(const std::string &predicate_name) const
Get the logical value of a predicate.
Definition BaseControllerInterface.cpp:197
-
modulo_controllers::BaseControllerInterface::is_node_initialized
bool is_node_initialized() const
Check if the node has been initialized or not.
Definition BaseControllerInterface.cpp:657
-
modulo_controllers::BaseControllerInterface::on_validate_parameter_callback
virtual bool on_validate_parameter_callback(const std::shared_ptr< state_representation::ParameterInterface > &parameter)
Parameter validation function to be redefined by derived controller classes.
Definition BaseControllerInterface.cpp:168
-
modulo_controllers::BaseControllerInterface::BaseControllerInterface
BaseControllerInterface()
Default constructor.
Definition BaseControllerInterface.cpp:26
-
modulo_controllers::BaseControllerInterface::add_service
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.
Definition BaseControllerInterface.cpp:479
-
modulo_controllers::BaseControllerInterface::get_command_mutex
std::timed_mutex & get_command_mutex()
Get the reference to the command mutex.
Definition BaseControllerInterface.cpp:653
-
modulo_controllers::BaseControllerInterface::add_trigger
void add_trigger(const std::string &trigger_name)
Add a trigger to the controller.
Definition BaseControllerInterface.cpp:234
-
modulo_controllers::BaseControllerInterface::send_transforms
void send_transforms(const std::vector< state_representation::CartesianPose > &transforms)
Send a vector of transforms to TF.
Definition BaseControllerInterface.cpp:628
+
modulo_controllers::BaseControllerInterface::trigger
void trigger(const std::string &trigger_name)
Latch the trigger with the provided name.
Definition BaseControllerInterface.cpp:251
+
modulo_controllers::BaseControllerInterface::set_qos
void set_qos(const rclcpp::QoS &qos)
Set the Quality of Service for ROS publishers and subscribers.
Definition BaseControllerInterface.cpp:546
+
modulo_controllers::BaseControllerInterface::set_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...
Definition BaseControllerInterface.cpp:211
+
modulo_controllers::BaseControllerInterface::add_predicate
void add_predicate(const std::string &predicate_name, bool predicate_value)
Add a predicate to the map of predicates.
Definition BaseControllerInterface.cpp:168
+
modulo_controllers::BaseControllerInterface::get_predicate
bool get_predicate(const std::string &predicate_name) const
Get the logical value of a predicate.
Definition BaseControllerInterface.cpp:193
+
modulo_controllers::BaseControllerInterface::on_validate_parameter_callback
virtual bool on_validate_parameter_callback(const std::shared_ptr< state_representation::ParameterInterface > &parameter)
Parameter validation function to be redefined by derived controller classes.
Definition BaseControllerInterface.cpp:164
+
modulo_controllers::BaseControllerInterface::BaseControllerInterface
BaseControllerInterface()
Default constructor.
Definition BaseControllerInterface.cpp:22
+
modulo_controllers::BaseControllerInterface::add_service
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.
Definition BaseControllerInterface.cpp:475
+
modulo_controllers::BaseControllerInterface::get_command_mutex
std::timed_mutex & get_command_mutex()
Get the reference to the command mutex.
Definition BaseControllerInterface.cpp:554
+
modulo_controllers::BaseControllerInterface::add_trigger
void add_trigger(const std::string &trigger_name)
Add a trigger to the controller.
Definition BaseControllerInterface.cpp:230
modulo_controllers::ControllerInterface
Definition ControllerInterface.hpp:10
modulo_core::Predicate
Definition Predicate.hpp:13
-
modulo_core::exceptions::CoreException
A base class for all core exceptions.
Definition exceptions.hpp:17
-
modulo_core::exceptions::LookupTransformException
An exception class to notify an error while looking up TF transforms.
Definition exceptions.hpp:71
modulo_core::exceptions::ParameterException
An exception class to notify errors with parameters in modulo classes.
Definition exceptions.hpp:101
modulo_core::exceptions::ParameterTranslationException
An exception class to notify incompatibility when translating parameters from different sources.
Definition exceptions.hpp:112
modulo_core::translators::write_parameter
rclcpp::Parameter write_parameter(const std::shared_ptr< state_representation::ParameterInterface > &parameter)
Write a ROS Parameter from a ParameterInterface pointer.
modulo_core::translators::get_ros_parameter_type
rclcpp::ParameterType get_ros_parameter_type(const state_representation::ParameterType &parameter_type)
Given a state representation parameter type, get the corresponding ROS parameter type.
modulo_core::translators::copy_parameter_value
void copy_parameter_value(const std::shared_ptr< const state_representation::ParameterInterface > &source_parameter, const std::shared_ptr< state_representation::ParameterInterface > &parameter)
Copy the value of one parameter interface into another.
-
modulo_core::translators::read_message
void read_message(state_representation::CartesianState &state, const geometry_msgs::msg::Accel &message)
Convert a ROS geometry_msgs::msg::Accel to a CartesianState.
Definition message_readers.cpp:17
modulo_core::translators::read_parameter_const
std::shared_ptr< state_representation::ParameterInterface > read_parameter_const(const rclcpp::Parameter &ros_parameter, const std::shared_ptr< const state_representation::ParameterInterface > &parameter)
Update the parameter value of a ParameterInterface from a ROS Parameter object only if the two parame...
modulo_core
Modulo Core.
Definition MessagePair.hpp:10
-
modulo_controllers::ControllerServiceResponse
Response structure to be returned by controller services.
Definition BaseControllerInterface.hpp:100
+
modulo_controllers::ControllerServiceResponse
Response structure to be returned by controller services.
Definition BaseControllerInterface.hpp:96
diff --git a/versions/main/_base_controller_interface_8hpp_source.html b/versions/main/_base_controller_interface_8hpp_source.html index 216cf1f2..3bbfd53a 100644 --- a/versions/main/_base_controller_interface_8hpp_source.html +++ b/versions/main/_base_controller_interface_8hpp_source.html @@ -90,744 +90,662 @@
7#include <controller_interface/helpers.hpp>
8#include <realtime_tools/realtime_buffer.h>
9#include <realtime_tools/realtime_publisher.h>
-
10#include <tf2_ros/buffer.h>
-
11#include <tf2_ros/static_transform_broadcaster.h>
-
12#include <tf2_ros/transform_broadcaster.h>
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13#include <tf2_ros/transform_listener.h>
-
14
-
15#include <state_representation/parameters/ParameterMap.hpp>
-
16
-
17#include <modulo_core/EncodedState.hpp>
-
18#include <modulo_core/Predicate.hpp>
-
19#include <modulo_core/communication/MessagePair.hpp>
-
20#include <modulo_core/exceptions.hpp>
-
21#include <modulo_core/translators/message_writers.hpp>
-
22#include <modulo_core/translators/parameter_translators.hpp>
+
10
+
11#include <state_representation/parameters/ParameterMap.hpp>
+
12
+
13#include <modulo_core/EncodedState.hpp>
+
14#include <modulo_core/Predicate.hpp>
+
15#include <modulo_core/communication/MessagePair.hpp>
+
16#include <modulo_core/exceptions.hpp>
+
17#include <modulo_core/translators/message_writers.hpp>
+
18#include <modulo_core/translators/parameter_translators.hpp>
+
19
+
20#include <modulo_interfaces/msg/predicate_collection.hpp>
+
21#include <modulo_interfaces/srv/empty_trigger.hpp>
+
22#include <modulo_interfaces/srv/string_trigger.hpp>
23
-
24#include <modulo_interfaces/msg/predicate_collection.hpp>
-
25#include <modulo_interfaces/srv/empty_trigger.hpp>
-
26#include <modulo_interfaces/srv/string_trigger.hpp>
+
24#include <modulo_utils/parsing.hpp>
+
25
+
26#include <modulo_core/concepts.hpp>
27
-
28#include <modulo_utils/parsing.hpp>
+
28namespace modulo_controllers {
29
-
30#include <modulo_core/concepts.hpp>
-
31
-
32namespace modulo_controllers {
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33
-
34typedef std::variant<
-
35 std::shared_ptr<rclcpp::Subscription<modulo_core::EncodedState>>,
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36 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Bool>>,
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37 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Float64>>,
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38 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Float64MultiArray>>,
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39 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Int32>>,
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40 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::String>>, std::any>
-
41 SubscriptionVariant;
-
42
-
43typedef std::variant<
-
44 realtime_tools::RealtimeBuffer<std::shared_ptr<modulo_core::EncodedState>>,
-
45 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Bool>>,
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46 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64>>,
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47 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64MultiArray>>,
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48 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Int32>>,
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49 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::String>>, std::any>
-
50 BufferVariant;
-
51
-
52typedef std::tuple<
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53 std::shared_ptr<state_representation::State>, std::shared_ptr<rclcpp::Publisher<modulo_core::EncodedState>>,
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54 realtime_tools::RealtimePublisherSharedPtr<modulo_core::EncodedState>>
-
55 EncodedStatePublishers;
+
30typedef std::variant<
+
31 std::shared_ptr<rclcpp::Subscription<modulo_core::EncodedState>>,
+
32 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Bool>>,
+
33 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Float64>>,
+
34 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Float64MultiArray>>,
+
35 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Int32>>,
+
36 std::shared_ptr<rclcpp::Subscription<std_msgs::msg::String>>, std::any>
+
37 SubscriptionVariant;
+
38
+
39typedef std::variant<
+
40 realtime_tools::RealtimeBuffer<std::shared_ptr<modulo_core::EncodedState>>,
+
41 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Bool>>,
+
42 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64>>,
+
43 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64MultiArray>>,
+
44 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Int32>>,
+
45 realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::String>>, std::any>
+
46 BufferVariant;
+
47
+
48typedef std::tuple<
+
49 std::shared_ptr<state_representation::State>, std::shared_ptr<rclcpp::Publisher<modulo_core::EncodedState>>,
+
50 realtime_tools::RealtimePublisherSharedPtr<modulo_core::EncodedState>>
+
51 EncodedStatePublishers;
+
52typedef std::pair<
+
53 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>>,
+
54 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::Bool>>
+
55 BoolPublishers;
56typedef std::pair<
-
57 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>>,
-
58 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::Bool>>
-
59 BoolPublishers;
+
57 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Float64>>,
+
58 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::Float64>>
+
59 DoublePublishers;
60typedef std::pair<
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61 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Float64>>,
-
62 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::Float64>>
-
63 DoublePublishers;
+
61 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Float64MultiArray>>,
+
62 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::Float64MultiArray>>
+
63 DoubleVecPublishers;
64typedef std::pair<
-
65 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Float64MultiArray>>,
-
66 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::Float64MultiArray>>
-
67 DoubleVecPublishers;
+
65 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Int32>>,
+
66 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::Int32>>
+
67 IntPublishers;
68typedef std::pair<
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69 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Int32>>,
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70 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::Int32>>
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71 IntPublishers;
-
72typedef std::pair<
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73 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String>>,
-
74 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::String>>
-
75 StringPublishers;
-
76typedef std::pair<std::any, std::any> CustomPublishers;
-
77
-
78typedef std::variant<
-
79 EncodedStatePublishers, BoolPublishers, DoublePublishers, DoubleVecPublishers, IntPublishers, StringPublishers,
-
80 CustomPublishers>
-
81 PublisherVariant;
-
82
-
-
87struct ControllerInput {
-
88 ControllerInput() = default;
-
89 ControllerInput(BufferVariant buffer_variant) : buffer(std::move(buffer_variant)) {}
-
90 BufferVariant buffer;
-
91 std::chrono::time_point<std::chrono::steady_clock> timestamp;
-
92};
+
69 std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String>>,
+
70 realtime_tools::RealtimePublisherSharedPtr<std_msgs::msg::String>>
+
71 StringPublishers;
+
72typedef std::pair<std::any, std::any> CustomPublishers;
+
73
+
74typedef std::variant<
+
75 EncodedStatePublishers, BoolPublishers, DoublePublishers, DoubleVecPublishers, IntPublishers, StringPublishers,
+
76 CustomPublishers>
+
77 PublisherVariant;
+
78
+
+
83struct ControllerInput {
+
84 ControllerInput() = default;
+
85 ControllerInput(BufferVariant buffer_variant) : buffer(std::move(buffer_variant)) {}
+
86 BufferVariant buffer;
+
87 std::chrono::time_point<std::chrono::steady_clock> timestamp;
+
88};
-
93
-
-
100struct ControllerServiceResponse {
-
101 bool success;
-
102 std::string message;
-
103};
+
89
+
+
96struct ControllerServiceResponse {
+
97 bool success;
+
98 std::string message;
+
99};
+
+
100
+
+
105class BaseControllerInterface : public controller_interface::ControllerInterface {
+
106public:
+
110 BaseControllerInterface();
+
111
+
116 CallbackReturn on_init() override;
+
117
+
123 CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
+
124
+
125protected:
+
134 void add_parameter(
+
135 const std::shared_ptr<state_representation::ParameterInterface>& parameter, const std::string& description,
+
136 bool read_only = false);
+
137
+
148 template<typename T>
+
149 void add_parameter(const std::string& name, const T& value, const std::string& description, bool read_only = false);
+
150
+
161 virtual bool
+
162 on_validate_parameter_callback(const std::shared_ptr<state_representation::ParameterInterface>& parameter);
+
163
+
169 [[nodiscard]] std::shared_ptr<state_representation::ParameterInterface> get_parameter(const std::string& name) const;
+
170
+
177 template<typename T>
+
178 T get_parameter_value(const std::string& name) const;
+
179
+
188 template<typename T>
+
189 void set_parameter_value(const std::string& name, const T& value);
+
190
+
196 void add_predicate(const std::string& predicate_name, bool predicate_value);
+
197
+
203 void add_predicate(const std::string& predicate_name, const std::function<bool(void)>& predicate_function);
+
204
+
211 [[nodiscard]] bool get_predicate(const std::string& predicate_name) const;
+
212
+
220 void set_predicate(const std::string& predicate_name, bool predicate_value);
+
221
+
229 void set_predicate(const std::string& predicate_name, const std::function<bool(void)>& predicate_function);
+
230
+
237 void add_trigger(const std::string& trigger_name);
+
238
+
243 void trigger(const std::string& trigger_name);
+
244
+
253 template<typename T>
+
254 void add_input(const std::string& name, const std::string& topic_name = "");
+
255
+
264 template<typename T>
+
265 void add_output(const std::string& name, const std::string& topic_name = "");
+
266
+
271 void set_input_validity_period(double input_validity_period);
+
272
+
280 template<typename T>
+
281 std::optional<T> read_input(const std::string& name);
+
282
+
291 template<typename T>
+
292 void write_output(const std::string& name, const T& data);
+
293
+
299 void add_service(const std::string& service_name, const std::function<ControllerServiceResponse(void)>& callback);
+
300
+
309 void add_service(
+
310 const std::string& service_name,
+
311 const std::function<ControllerServiceResponse(const std::string& string)>& callback);
+
312
+
317 [[nodiscard]] rclcpp::QoS get_qos() const;
+
318
+
323 void set_qos(const rclcpp::QoS& qos);
+
324
+
329 bool is_active() const;
+
330
+
335 std::timed_mutex& get_command_mutex();
+
336
+
337private:
+
345 bool validate_parameter(const std::shared_ptr<state_representation::ParameterInterface>& parameter);
+
346
+
351 void pre_set_parameters_callback(std::vector<rclcpp::Parameter>& parameters);
+
352
+
359 rcl_interfaces::msg::SetParametersResult on_set_parameters_callback(const std::vector<rclcpp::Parameter>& parameters);
+
360
+
366 modulo_interfaces::msg::Predicate get_predicate_message(const std::string& name, bool value) const;
+
367
+
373 void publish_predicate(const std::string& predicate_name, bool value) const;
+
374
+
378 void publish_predicates();
+
379
+
387 std::string validate_and_declare_signal(
+
388 const std::string& signal_name, const std::string& type, const std::string& default_topic,
+
389 bool fixed_topic = false);
+
390
+
399 void create_input(const ControllerInput& input, const std::string& name, const std::string& topic_name);
+
400
+
409 void create_output(const PublisherVariant& publishers, const std::string& name, const std::string& topic_name);
+
410
+
417 template<typename T>
+
418 std::shared_ptr<rclcpp::Subscription<T>> create_subscription(const std::string& name, const std::string& topic_name);
+
419
+
424 bool check_input_valid(const std::string& name) const;
+
425
+
429 template<typename PublisherT, typename MsgT, typename T>
+
430 void write_std_output(const std::string& name, const T& data);
+
431
+
435 void add_inputs();
+
436
+
440 void add_outputs();
+
441
+
448 std::string validate_service_name(const std::string& service_name, const std::string& type) const;
+
449
+
450 state_representation::ParameterMap parameter_map_;
+
451 std::unordered_map<std::string, bool> read_only_parameters_;
+
452 std::shared_ptr<rclcpp::node_interfaces::PreSetParametersCallbackHandle>
+
453 pre_set_parameter_cb_handle_;
+
454 std::shared_ptr<rclcpp::node_interfaces::OnSetParametersCallbackHandle>
+
455 on_set_parameter_cb_handle_;
+
456 rcl_interfaces::msg::SetParametersResult set_parameters_result_;
+
457 bool pre_set_parameter_callback_called_ = false;
+
458
+
459 std::vector<SubscriptionVariant> subscriptions_;
+
460 std::map<std::string, ControllerInput> inputs_;
+
461 std::map<std::string, std::shared_ptr<modulo_core::communication::MessagePairInterface>>
+
462 input_message_pairs_;
+
463 std::map<std::string, PublisherVariant> outputs_;
+
464 double input_validity_period_;
+
465 rclcpp::QoS qos_ = rclcpp::QoS(10);
+
466
+
467 std::map<std::string, std::shared_ptr<rclcpp::Service<modulo_interfaces::srv::EmptyTrigger>>>
+
468 empty_services_;
+
469 std::map<std::string, std::shared_ptr<rclcpp::Service<modulo_interfaces::srv::StringTrigger>>>
+
470 string_services_;
+
471
+
472 std::map<std::string, modulo_core::Predicate> predicates_;
+
473 std::shared_ptr<rclcpp::Publisher<modulo_interfaces::msg::PredicateCollection>>
+
474 predicate_publisher_;
+
475 std::vector<std::string> triggers_;
+
476 modulo_interfaces::msg::PredicateCollection predicate_message_;
+
477 std::shared_ptr<rclcpp::TimerBase> predicate_timer_;
+
478
+
479 std::timed_mutex command_mutex_;
+
480
+
481 std::map<std::string, std::function<void(CustomPublishers&, const std::string&)>>
+
482 custom_output_configuration_callables_;
+
483 std::map<std::string, std::function<void(const std::string&, const std::string&)>>
+
484 custom_input_configuration_callables_;
+
485};
+
+
486
+
487template<typename T>
+
+
488inline void BaseControllerInterface::add_parameter(
+
489 const std::string& name, const T& value, const std::string& description, bool read_only) {
+
490 if (name.empty()) {
+
491 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add parameter: Provide a non empty string as a name.");
+
492 return;
+
493 }
+
494 add_parameter(state_representation::make_shared_parameter(name, value), description, read_only);
+
495}
-
104
-
-
109class BaseControllerInterface : public controller_interface::ControllerInterface {
-
110public:
-
114 BaseControllerInterface();
-
115
-
120 CallbackReturn on_init() override;
-
121
-
127 CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
-
128
-
129protected:
-
138 void add_parameter(
-
139 const std::shared_ptr<state_representation::ParameterInterface>& parameter, const std::string& description,
-
140 bool read_only = false);
-
141
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152 template<typename T>
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153 void add_parameter(const std::string& name, const T& value, const std::string& description, bool read_only = false);
-
154
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165 virtual bool
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166 on_validate_parameter_callback(const std::shared_ptr<state_representation::ParameterInterface>& parameter);
-
167
-
173 [[nodiscard]] std::shared_ptr<state_representation::ParameterInterface> get_parameter(const std::string& name) const;
-
174
-
181 template<typename T>
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182 T get_parameter_value(const std::string& name) const;
-
183
-
192 template<typename T>
-
193 void set_parameter_value(const std::string& name, const T& value);
-
194
-
200 void add_predicate(const std::string& predicate_name, bool predicate_value);
-
201
-
207 void add_predicate(const std::string& predicate_name, const std::function<bool(void)>& predicate_function);
-
208
-
215 [[nodiscard]] bool get_predicate(const std::string& predicate_name) const;
-
216
-
224 void set_predicate(const std::string& predicate_name, bool predicate_value);
-
225
-
233 void set_predicate(const std::string& predicate_name, const std::function<bool(void)>& predicate_function);
-
234
-
241 void add_trigger(const std::string& trigger_name);
-
242
-
247 void trigger(const std::string& trigger_name);
-
248
-
257 template<typename T>
-
258 void add_input(const std::string& name, const std::string& topic_name = "");
-
259
-
268 template<typename T>
-
269 void add_output(const std::string& name, const std::string& topic_name = "");
-
270
-
275 void set_input_validity_period(double input_validity_period);
-
276
-
284 template<typename T>
-
285 std::optional<T> read_input(const std::string& name);
-
286
-
295 template<typename T>
-
296 void write_output(const std::string& name, const T& data);
-
297
-
303 void add_service(const std::string& service_name, const std::function<ControllerServiceResponse(void)>& callback);
-
304
-
313 void add_service(
-
314 const std::string& service_name,
-
315 const std::function<ControllerServiceResponse(const std::string& string)>& callback);
-
316
-
320 void add_tf_listener();
-
321
-
332 [[nodiscard]] state_representation::CartesianPose lookup_transform(
-
333 const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
-
334 const tf2::Duration& duration);
-
335
-
346 [[nodiscard]] state_representation::CartesianPose lookup_transform(
-
347 const std::string& frame, const std::string& reference_frame = "world", double validity_period = -1.0,
-
348 const tf2::Duration& duration = tf2::Duration(std::chrono::microseconds(10)));
-
349
-
353 void add_tf_broadcaster();
-
354
-
358 void add_static_tf_broadcaster();
-
359
-
364 void send_transform(const state_representation::CartesianPose& transform);
-
365
-
370 void send_transforms(const std::vector<state_representation::CartesianPose>& transforms);
-
371
-
376 void send_static_transform(const state_representation::CartesianPose& transform);
-
377
-
382 void send_static_transforms(const std::vector<state_representation::CartesianPose>& transforms);
-
383
-
388 [[nodiscard]] rclcpp::QoS get_qos() const;
-
389
-
394 void set_qos(const rclcpp::QoS& qos);
-
395
-
400 bool is_active() const;
-
401
-
406 std::timed_mutex& get_command_mutex();
-
407
-
412 bool is_node_initialized() const;
-
413
-
414private:
-
422 bool validate_parameter(const std::shared_ptr<state_representation::ParameterInterface>& parameter);
-
423
-
428 void pre_set_parameters_callback(std::vector<rclcpp::Parameter>& parameters);
-
429
-
436 rcl_interfaces::msg::SetParametersResult on_set_parameters_callback(const std::vector<rclcpp::Parameter>& parameters);
-
437
-
443 modulo_interfaces::msg::Predicate get_predicate_message(const std::string& name, bool value) const;
-
444
-
450 void publish_predicate(const std::string& predicate_name, bool value) const;
-
451
-
455 void publish_predicates();
-
456
-
464 std::string validate_and_declare_signal(
-
465 const std::string& signal_name, const std::string& type, const std::string& default_topic,
-
466 bool fixed_topic = false);
-
467
-
476 void create_input(const ControllerInput& input, const std::string& name, const std::string& topic_name);
-
477
-
486 void create_output(const PublisherVariant& publishers, const std::string& name, const std::string& topic_name);
-
487
-
494 template<typename T>
-
495 std::shared_ptr<rclcpp::Subscription<T>> create_subscription(const std::string& name, const std::string& topic_name);
496
-
501 bool check_input_valid(const std::string& name) const;
-
502
-
506 template<typename PublisherT, typename MsgT, typename T>
-
507 void write_std_output(const std::string& name, const T& data);
-
508
-
512 void add_inputs();
-
513
-
517 void add_outputs();
-
518
-
525 std::string validate_service_name(const std::string& service_name, const std::string& type) const;
-
526
-
537 [[nodiscard]] geometry_msgs::msg::TransformStamped lookup_ros_transform(
-
538 const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
-
539 const tf2::Duration& duration);
-
540
-
548 template<typename T>
-
549 void publish_transforms(
-
550 const std::vector<state_representation::CartesianPose>& transforms, const std::shared_ptr<T>& tf_broadcaster,
-
551 bool is_static = false);
-
552
-
553 state_representation::ParameterMap parameter_map_;
-
554 std::unordered_map<std::string, bool> read_only_parameters_;
-
555 std::shared_ptr<rclcpp::node_interfaces::PreSetParametersCallbackHandle>
-
556 pre_set_parameter_cb_handle_;
-
557 std::shared_ptr<rclcpp::node_interfaces::OnSetParametersCallbackHandle>
-
558 on_set_parameter_cb_handle_;
-
559 rcl_interfaces::msg::SetParametersResult set_parameters_result_;
-
560 bool pre_set_parameter_callback_called_ = false;
-
561
-
562 std::vector<SubscriptionVariant> subscriptions_;
-
563 std::map<std::string, ControllerInput> inputs_;
-
564 std::map<std::string, std::shared_ptr<modulo_core::communication::MessagePairInterface>>
-
565 input_message_pairs_;
-
566 std::map<std::string, PublisherVariant> outputs_;
-
567 double input_validity_period_;
-
568 rclcpp::QoS qos_ = rclcpp::QoS(10);
-
569
-
570 std::map<std::string, std::shared_ptr<rclcpp::Service<modulo_interfaces::srv::EmptyTrigger>>>
-
571 empty_services_;
-
572 std::map<std::string, std::shared_ptr<rclcpp::Service<modulo_interfaces::srv::StringTrigger>>>
-
573 string_services_;
-
574
-
575 std::map<std::string, modulo_core::Predicate> predicates_;
-
576 std::shared_ptr<rclcpp::Publisher<modulo_interfaces::msg::PredicateCollection>>
-
577 predicate_publisher_;
-
578 std::vector<std::string> triggers_;
-
579 modulo_interfaces::msg::PredicateCollection predicate_message_;
-
580 std::shared_ptr<rclcpp::TimerBase> predicate_timer_;
-
581
-
582 std::timed_mutex command_mutex_;
-
583
-
584 std::map<std::string, std::function<void(CustomPublishers&, const std::string&)>>
-
585 custom_output_configuration_callables_;
-
586 std::map<std::string, std::function<void(const std::string&, const std::string&)>>
-
587 custom_input_configuration_callables_;
-
588
-
589 std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
-
590 std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
-
591 std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
-
592 std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_;
-
593};
+
497template<typename T>
+
+
498inline T BaseControllerInterface::get_parameter_value(const std::string& name) const {
+
499 try {
+
500 return this->parameter_map_.template get_parameter_value<T>(name);
+
501 } catch (const state_representation::exceptions::InvalidParameterException& ex) {
+
502 throw modulo_core::exceptions::ParameterException(
+
503 "Failed to get parameter value of parameter '" + name + "': " + ex.what());
+
504 }
+
505}
-
594
-
595template<typename T>
-
-
596inline void BaseControllerInterface::add_parameter(
-
597 const std::string& name, const T& value, const std::string& description, bool read_only) {
-
598 if (name.empty()) {
-
599 RCLCPP_ERROR(get_node()->get_logger(), "Failed to add parameter: Provide a non empty string as a name.");
-
600 return;
-
601 }
-
602 add_parameter(state_representation::make_shared_parameter(name, value), description, read_only);
-
603}
+
506
+
507template<typename T>
+
+
508inline void BaseControllerInterface::set_parameter_value(const std::string& name, const T& value) {
+
509 try {
+
510 std::vector<rclcpp::Parameter> parameters{
+
511 modulo_core::translators::write_parameter(state_representation::make_shared_parameter(name, value))};
+
512 pre_set_parameters_callback(parameters);
+
513 pre_set_parameter_callback_called_ = true;
+
514 auto result = get_node()->set_parameters(parameters).at(0);
+
515 if (!result.successful) {
+
516 RCLCPP_ERROR_THROTTLE(
+
517 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
518 "Failed to set parameter value of parameter '%s': %s", name.c_str(), result.reason.c_str());
+
519 }
+
520 } catch (const std::exception& ex) {
+
521 RCLCPP_ERROR_THROTTLE(
+
522 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Failed to set parameter value of parameter '%s': %s",
+
523 name.c_str(), ex.what());
+
524 }
+
525}
-
604
-
605template<typename T>
-
-
606inline T BaseControllerInterface::get_parameter_value(const std::string& name) const {
-
607 try {
-
608 return this->parameter_map_.template get_parameter_value<T>(name);
-
609 } catch (const state_representation::exceptions::InvalidParameterException& ex) {
-
610 throw modulo_core::exceptions::ParameterException(
-
611 "Failed to get parameter value of parameter '" + name + "': " + ex.what());
-
612 }
-
613}
+
526
+
527template<typename T>
+
+
528inline void BaseControllerInterface::add_input(const std::string& name, const std::string& topic_name) {
+
529 if constexpr (modulo_core::concepts::CustomT<T>) {
+
530 auto buffer = std::make_shared<realtime_tools::RealtimeBuffer<std::shared_ptr<T>>>();
+
531 auto input = ControllerInput(buffer);
+
532 auto parsed_name = validate_and_declare_signal(name, "input", topic_name);
+
533 if (!parsed_name.empty()) {
+
534 inputs_.insert_or_assign(parsed_name, input);
+
535 custom_input_configuration_callables_.insert_or_assign(
+
536 name, [this](const std::string& name, const std::string& topic) {
+
537 auto subscription =
+
538 get_node()->create_subscription<T>(topic, qos_, [this, name](const std::shared_ptr<T> message) {
+
539 auto buffer_variant = std::get<std::any>(inputs_.at(name).buffer);
+
540 auto buffer = std::any_cast<std::shared_ptr<realtime_tools::RealtimeBuffer<std::shared_ptr<T>>>>(
+
541 buffer_variant);
+
542 buffer->writeFromNonRT(message);
+
543 inputs_.at(name).timestamp = std::chrono::steady_clock::now();
+
544 });
+
545 subscriptions_.push_back(subscription);
+
546 });
+
547 }
+
548 } else {
+
549 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<modulo_core::EncodedState>>();
+
550 auto input = ControllerInput(buffer);
+
551 auto parsed_name = validate_and_declare_signal(name, "input", topic_name);
+
552 if (!parsed_name.empty()) {
+
553 inputs_.insert_or_assign(parsed_name, input);
+
554 input_message_pairs_.insert_or_assign(
+
555 parsed_name,
+
556 modulo_core::communication::make_shared_message_pair(std::make_shared<T>(), get_node()->get_clock()));
+
557 }
+
558 }
+
559}
-
614
-
615template<typename T>
-
-
616inline void BaseControllerInterface::set_parameter_value(const std::string& name, const T& value) {
-
617 try {
-
618 std::vector<rclcpp::Parameter> parameters{
-
619 modulo_core::translators::write_parameter(state_representation::make_shared_parameter(name, value))};
-
620 pre_set_parameters_callback(parameters);
-
621 pre_set_parameter_callback_called_ = true;
-
622 auto result = get_node()->set_parameters(parameters).at(0);
-
623 if (!result.successful) {
-
624 RCLCPP_ERROR_THROTTLE(
-
625 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
626 "Failed to set parameter value of parameter '%s': %s", name.c_str(), result.reason.c_str());
-
627 }
-
628 } catch (const std::exception& ex) {
-
629 RCLCPP_ERROR_THROTTLE(
-
630 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Failed to set parameter value of parameter '%s': %s",
-
631 name.c_str(), ex.what());
-
632 }
-
633}
+
560
+
561template<>
+
562inline void BaseControllerInterface::add_input<bool>(const std::string& name, const std::string& topic_name) {
+
563 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Bool>>();
+
564 auto input = ControllerInput(buffer);
+
565 create_input(input, name, topic_name);
+
566}
+
567
+
568template<>
+
569inline void BaseControllerInterface::add_input<double>(const std::string& name, const std::string& topic_name) {
+
570 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64>>();
+
571 auto input = ControllerInput(buffer);
+
572 create_input(input, name, topic_name);
+
573}
+
574
+
575template<>
+
576inline void
+
577BaseControllerInterface::add_input<std::vector<double>>(const std::string& name, const std::string& topic_name) {
+
578 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64MultiArray>>();
+
579 auto input = ControllerInput(buffer);
+
580 create_input(input, name, topic_name);
+
581}
+
582
+
583template<>
+
584inline void BaseControllerInterface::add_input<int>(const std::string& name, const std::string& topic_name) {
+
585 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Int32>>();
+
586 auto input = ControllerInput(buffer);
+
587 create_input(input, name, topic_name);
+
588}
+
589
+
590template<>
+
591inline void BaseControllerInterface::add_input<std::string>(const std::string& name, const std::string& topic_name) {
+
592 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::String>>();
+
593 auto input = ControllerInput(buffer);
+
594 create_input(input, name, topic_name);
+
595}
+
596
+
597template<typename T>
+
598inline std::shared_ptr<rclcpp::Subscription<T>>
+
599BaseControllerInterface::create_subscription(const std::string& name, const std::string& topic_name) {
+
600 return get_node()->create_subscription<T>(topic_name, qos_, [this, name](const std::shared_ptr<T> message) {
+
601 std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<T>>>(inputs_.at(name).buffer).writeFromNonRT(message);
+
602 inputs_.at(name).timestamp = std::chrono::steady_clock::now();
+
603 });
+
604}
+
605
+
606template<typename T>
+
+
607inline void BaseControllerInterface::add_output(const std::string& name, const std::string& topic_name) {
+
608 if constexpr (modulo_core::concepts::CustomT<T>) {
+
609 typedef std::pair<std::shared_ptr<rclcpp::Publisher<T>>, realtime_tools::RealtimePublisherSharedPtr<T>> PublisherT;
+
610 auto parsed_name = validate_and_declare_signal(name, "output", topic_name);
+
611 if (!parsed_name.empty()) {
+
612 outputs_.insert_or_assign(parsed_name, PublisherT());
+
613 custom_output_configuration_callables_.insert_or_assign(
+
614 name, [this](CustomPublishers& pub, const std::string& topic) {
+
615 auto publisher = get_node()->create_publisher<T>(topic, qos_);
+
616 pub.first = publisher;
+
617 pub.second = std::make_shared<realtime_tools::RealtimePublisher<T>>(publisher);
+
618 });
+
619 }
+
620 } else {
+
621 std::shared_ptr<state_representation::State> state_ptr = std::make_shared<T>();
+
622 create_output(EncodedStatePublishers(state_ptr, {}, {}), name, topic_name);
+
623 }
+
624}
-
634
-
635template<typename T>
-
-
636inline void BaseControllerInterface::add_input(const std::string& name, const std::string& topic_name) {
-
637 if constexpr (modulo_core::concepts::CustomT<T>) {
-
638 auto buffer = std::make_shared<realtime_tools::RealtimeBuffer<std::shared_ptr<T>>>();
-
639 auto input = ControllerInput(buffer);
-
640 auto parsed_name = validate_and_declare_signal(name, "input", topic_name);
-
641 if (!parsed_name.empty()) {
-
642 inputs_.insert_or_assign(parsed_name, input);
-
643 custom_input_configuration_callables_.insert_or_assign(
-
644 name, [this](const std::string& name, const std::string& topic) {
-
645 auto subscription =
-
646 get_node()->create_subscription<T>(topic, qos_, [this, name](const std::shared_ptr<T> message) {
-
647 auto buffer_variant = std::get<std::any>(inputs_.at(name).buffer);
-
648 auto buffer = std::any_cast<std::shared_ptr<realtime_tools::RealtimeBuffer<std::shared_ptr<T>>>>(
-
649 buffer_variant);
-
650 buffer->writeFromNonRT(message);
-
651 inputs_.at(name).timestamp = std::chrono::steady_clock::now();
-
652 });
-
653 subscriptions_.push_back(subscription);
-
654 });
-
655 }
-
656 } else {
-
657 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<modulo_core::EncodedState>>();
-
658 auto input = ControllerInput(buffer);
-
659 auto parsed_name = validate_and_declare_signal(name, "input", topic_name);
-
660 if (!parsed_name.empty()) {
-
661 inputs_.insert_or_assign(parsed_name, input);
-
662 input_message_pairs_.insert_or_assign(
-
663 parsed_name,
-
664 modulo_core::communication::make_shared_message_pair(std::make_shared<T>(), get_node()->get_clock()));
+
625
+
626template<>
+
627inline void BaseControllerInterface::add_output<bool>(const std::string& name, const std::string& topic_name) {
+
628 create_output(BoolPublishers(), name, topic_name);
+
629}
+
630
+
631template<>
+
632inline void BaseControllerInterface::add_output<double>(const std::string& name, const std::string& topic_name) {
+
633 create_output(DoublePublishers(), name, topic_name);
+
634}
+
635
+
636template<>
+
637inline void
+
638BaseControllerInterface::add_output<std::vector<double>>(const std::string& name, const std::string& topic_name) {
+
639 create_output(DoubleVecPublishers(), name, topic_name);
+
640}
+
641
+
642template<>
+
643inline void BaseControllerInterface::add_output<int>(const std::string& name, const std::string& topic_name) {
+
644 create_output(IntPublishers(), name, topic_name);
+
645}
+
646
+
647template<>
+
648inline void BaseControllerInterface::add_output<std::string>(const std::string& name, const std::string& topic_name) {
+
649 create_output(StringPublishers(), name, topic_name);
+
650}
+
651
+
652template<typename T>
+
+
653inline std::optional<T> BaseControllerInterface::read_input(const std::string& name) {
+
654 if (!check_input_valid(name)) {
+
655 return {};
+
656 }
+
657
+
658 if constexpr (modulo_core::concepts::CustomT<T>) {
+
659 try {
+
660 auto buffer_variant = std::get<std::any>(inputs_.at(name).buffer);
+
661 auto buffer = std::any_cast<std::shared_ptr<realtime_tools::RealtimeBuffer<std::shared_ptr<T>>>>(buffer_variant);
+
662 return **(buffer->readFromNonRT());
+
663 } catch (const std::bad_any_cast& ex) {
+
664 RCLCPP_ERROR(get_node()->get_logger(), "Failed to read custom input: %s", ex.what());
665 }
-
666 }
-
667}
-
-
668
-
669template<>
-
670inline void BaseControllerInterface::add_input<bool>(const std::string& name, const std::string& topic_name) {
-
671 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Bool>>();
-
672 auto input = ControllerInput(buffer);
-
673 create_input(input, name, topic_name);
-
674}
-
675
-
676template<>
-
677inline void BaseControllerInterface::add_input<double>(const std::string& name, const std::string& topic_name) {
-
678 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64>>();
-
679 auto input = ControllerInput(buffer);
-
680 create_input(input, name, topic_name);
-
681}
-
682
-
683template<>
-
684inline void
-
685BaseControllerInterface::add_input<std::vector<double>>(const std::string& name, const std::string& topic_name) {
-
686 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64MultiArray>>();
-
687 auto input = ControllerInput(buffer);
-
688 create_input(input, name, topic_name);
-
689}
-
690
-
691template<>
-
692inline void BaseControllerInterface::add_input<int>(const std::string& name, const std::string& topic_name) {
-
693 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Int32>>();
-
694 auto input = ControllerInput(buffer);
-
695 create_input(input, name, topic_name);
+
666 return {};
+
667 } else {
+
668 auto message =
+
669 **std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<modulo_core::EncodedState>>>(inputs_.at(name).buffer)
+
670 .readFromNonRT();
+
671 std::shared_ptr<state_representation::State> state;
+
672 try {
+
673 auto message_pair = input_message_pairs_.at(name);
+
674 message_pair->read<modulo_core::EncodedState, state_representation::State>(message);
+
675 state = message_pair->get_message_pair<modulo_core::EncodedState, state_representation::State>()->get_data();
+
676 } catch (const std::exception& ex) {
+
677 RCLCPP_WARN_THROTTLE(
+
678 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
679 "Could not read EncodedState message on input '%s': %s", name.c_str(), ex.what());
+
680 return {};
+
681 }
+
682 if (state->is_empty()) {
+
683 return {};
+
684 }
+
685 auto cast_ptr = std::dynamic_pointer_cast<T>(state);
+
686 if (cast_ptr != nullptr) {
+
687 return *cast_ptr;
+
688 } else {
+
689 RCLCPP_WARN_THROTTLE(
+
690 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
691 "Dynamic cast of message on input '%s' from type '%s' to type '%s' failed.", name.c_str(),
+
692 get_state_type_name(state->get_type()).c_str(), get_state_type_name(T().get_type()).c_str());
+
693 }
+
694 return {};
+
695 }
696}
+
697
698template<>
-
699inline void BaseControllerInterface::add_input<std::string>(const std::string& name, const std::string& topic_name) {
-
700 auto buffer = realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::String>>();
-
701 auto input = ControllerInput(buffer);
-
702 create_input(input, name, topic_name);
-
703}
-
704
-
705template<typename T>
-
706inline std::shared_ptr<rclcpp::Subscription<T>>
-
707BaseControllerInterface::create_subscription(const std::string& name, const std::string& topic_name) {
-
708 return get_node()->create_subscription<T>(topic_name, qos_, [this, name](const std::shared_ptr<T> message) {
-
709 std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<T>>>(inputs_.at(name).buffer).writeFromNonRT(message);
-
710 inputs_.at(name).timestamp = std::chrono::steady_clock::now();
-
711 });
-
712}
-
713
-
714template<typename T>
-
-
715inline void BaseControllerInterface::add_output(const std::string& name, const std::string& topic_name) {
-
716 if constexpr (modulo_core::concepts::CustomT<T>) {
-
717 typedef std::pair<std::shared_ptr<rclcpp::Publisher<T>>, realtime_tools::RealtimePublisherSharedPtr<T>> PublisherT;
-
718 auto parsed_name = validate_and_declare_signal(name, "output", topic_name);
-
719 if (!parsed_name.empty()) {
-
720 outputs_.insert_or_assign(parsed_name, PublisherT());
-
721 custom_output_configuration_callables_.insert_or_assign(
-
722 name, [this](CustomPublishers& pub, const std::string& topic) {
-
723 auto publisher = get_node()->create_publisher<T>(topic, qos_);
-
724 pub.first = publisher;
-
725 pub.second = std::make_shared<realtime_tools::RealtimePublisher<T>>(publisher);
-
726 });
-
727 }
-
728 } else {
-
729 std::shared_ptr<state_representation::State> state_ptr = std::make_shared<T>();
-
730 create_output(EncodedStatePublishers(state_ptr, {}, {}), name, topic_name);
-
731 }
-
732}
-
-
733
-
734template<>
-
735inline void BaseControllerInterface::add_output<bool>(const std::string& name, const std::string& topic_name) {
-
736 create_output(BoolPublishers(), name, topic_name);
-
737}
-
738
-
739template<>
-
740inline void BaseControllerInterface::add_output<double>(const std::string& name, const std::string& topic_name) {
-
741 create_output(DoublePublishers(), name, topic_name);
-
742}
-
743
-
744template<>
-
745inline void
-
746BaseControllerInterface::add_output<std::vector<double>>(const std::string& name, const std::string& topic_name) {
-
747 create_output(DoubleVecPublishers(), name, topic_name);
-
748}
-
749
-
750template<>
-
751inline void BaseControllerInterface::add_output<int>(const std::string& name, const std::string& topic_name) {
-
752 create_output(IntPublishers(), name, topic_name);
-
753}
-
754
-
755template<>
-
756inline void BaseControllerInterface::add_output<std::string>(const std::string& name, const std::string& topic_name) {
-
757 create_output(StringPublishers(), name, topic_name);
-
758}
+
699inline std::optional<bool> BaseControllerInterface::read_input<bool>(const std::string& name) {
+
700 if (!check_input_valid(name)) {
+
701 return {};
+
702 }
+
703 // no need to check for emptiness of the pointer: timestamps are default constructed to 0, so an input being valid
+
704 // means that a message was received
+
705 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Bool>>>(inputs_.at(name).buffer)
+
706 .readFromNonRT())
+
707 ->data;
+
708}
+
709
+
710template<>
+
711inline std::optional<double> BaseControllerInterface::read_input<double>(const std::string& name) {
+
712 if (!check_input_valid(name)) {
+
713 return {};
+
714 }
+
715 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64>>>(inputs_.at(name).buffer)
+
716 .readFromNonRT())
+
717 ->data;
+
718}
+
719
+
720template<>
+
721inline std::optional<std::vector<double>>
+
722BaseControllerInterface::read_input<std::vector<double>>(const std::string& name) {
+
723 if (!check_input_valid(name)) {
+
724 return {};
+
725 }
+
726 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64MultiArray>>>(
+
727 inputs_.at(name).buffer)
+
728 .readFromNonRT())
+
729 ->data;
+
730}
+
731
+
732template<>
+
733inline std::optional<int> BaseControllerInterface::read_input<int>(const std::string& name) {
+
734 if (!check_input_valid(name)) {
+
735 return {};
+
736 }
+
737 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Int32>>>(inputs_.at(name).buffer)
+
738 .readFromNonRT())
+
739 ->data;
+
740}
+
741
+
742template<>
+
743inline std::optional<std::string> BaseControllerInterface::read_input<std::string>(const std::string& name) {
+
744 if (!check_input_valid(name)) {
+
745 return {};
+
746 }
+
747 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::String>>>(inputs_.at(name).buffer)
+
748 .readFromNonRT())
+
749 ->data;
+
750}
+
751
+
752template<typename T>
+
+
753inline void BaseControllerInterface::write_output(const std::string& name, const T& data) {
+
754 if (outputs_.find(name) == outputs_.end()) {
+
755 RCLCPP_WARN_THROTTLE(
+
756 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Could not find output '%s'", name.c_str());
+
757 return;
+
758 }
759
-
760template<typename T>
-
-
761inline std::optional<T> BaseControllerInterface::read_input(const std::string& name) {
-
762 if (!check_input_valid(name)) {
-
763 return {};
-
764 }
-
765
-
766 if constexpr (modulo_core::concepts::CustomT<T>) {
-
767 try {
-
768 auto buffer_variant = std::get<std::any>(inputs_.at(name).buffer);
-
769 auto buffer = std::any_cast<std::shared_ptr<realtime_tools::RealtimeBuffer<std::shared_ptr<T>>>>(buffer_variant);
-
770 return **(buffer->readFromNonRT());
-
771 } catch (const std::bad_any_cast& ex) {
-
772 RCLCPP_ERROR(get_node()->get_logger(), "Failed to read custom input: %s", ex.what());
-
773 }
-
774 return {};
-
775 } else {
-
776 auto message =
-
777 **std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<modulo_core::EncodedState>>>(inputs_.at(name).buffer)
-
778 .readFromNonRT();
-
779 std::shared_ptr<state_representation::State> state;
-
780 try {
-
781 auto message_pair = input_message_pairs_.at(name);
-
782 message_pair->read<modulo_core::EncodedState, state_representation::State>(message);
-
783 state = message_pair->get_message_pair<modulo_core::EncodedState, state_representation::State>()->get_data();
-
784 } catch (const std::exception& ex) {
-
785 RCLCPP_WARN_THROTTLE(
-
786 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
787 "Could not read EncodedState message on input '%s': %s", name.c_str(), ex.what());
-
788 return {};
-
789 }
-
790 if (state->is_empty()) {
-
791 return {};
-
792 }
-
793 auto cast_ptr = std::dynamic_pointer_cast<T>(state);
-
794 if (cast_ptr != nullptr) {
-
795 return *cast_ptr;
-
796 } else {
-
797 RCLCPP_WARN_THROTTLE(
-
798 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
799 "Dynamic cast of message on input '%s' from type '%s' to type '%s' failed.", name.c_str(),
-
800 get_state_type_name(state->get_type()).c_str(), get_state_type_name(T().get_type()).c_str());
-
801 }
-
802 return {};
-
803 }
-
804}
+
760 if constexpr (modulo_core::concepts::CustomT<T>) {
+
761 CustomPublishers publishers;
+
762 try {
+
763 publishers = std::get<CustomPublishers>(outputs_.at(name));
+
764 } catch (const std::bad_variant_access&) {
+
765 RCLCPP_WARN_THROTTLE(
+
766 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
767 "Could not retrieve publisher for output '%s': Invalid output type", name.c_str());
+
768 return;
+
769 }
+
770
+
771 std::shared_ptr<realtime_tools::RealtimePublisher<T>> rt_pub;
+
772 try {
+
773 rt_pub = std::any_cast<std::shared_ptr<realtime_tools::RealtimePublisher<T>>>(publishers.second);
+
774 } catch (const std::bad_any_cast& ex) {
+
775 RCLCPP_ERROR_THROTTLE(
+
776 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
777 "Skipping publication of output '%s' due to wrong data type: %s", name.c_str(), ex.what());
+
778 return;
+
779 }
+
780 if (rt_pub && rt_pub->trylock()) {
+
781 rt_pub->msg_ = data;
+
782 rt_pub->unlockAndPublish();
+
783 }
+
784 } else {
+
785 if (data.is_empty()) {
+
786 RCLCPP_DEBUG_THROTTLE(
+
787 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
788 "Skipping publication of output '%s' due to emptiness of state", name.c_str());
+
789 return;
+
790 }
+
791 EncodedStatePublishers publishers;
+
792 try {
+
793 publishers = std::get<EncodedStatePublishers>(outputs_.at(name));
+
794 } catch (const std::bad_variant_access&) {
+
795 RCLCPP_WARN_THROTTLE(
+
796 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
797 "Could not retrieve publisher for output '%s': Invalid output type", name.c_str());
+
798 return;
+
799 }
+
800 if (const auto output_type = std::get<0>(publishers)->get_type(); output_type != data.get_type()) {
+
801 RCLCPP_WARN_THROTTLE(
+
802 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
803 "Skipping publication of output '%s' due to wrong data type (expected '%s', got '%s')",
+
804 state_representation::get_state_type_name(output_type).c_str(),
+
805 state_representation::get_state_type_name(data.get_type()).c_str(), name.c_str());
+
806 return;
+
807 }
+
808 auto rt_pub = std::get<2>(publishers);
+
809 if (rt_pub && rt_pub->trylock()) {
+
810 try {
+
811 modulo_core::translators::write_message<T>(rt_pub->msg_, data, get_node()->get_clock()->now());
+
812 } catch (const modulo_core::exceptions::MessageTranslationException& ex) {
+
813 RCLCPP_ERROR_THROTTLE(
+
814 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Failed to publish output '%s': %s", name.c_str(),
+
815 ex.what());
+
816 }
+
817 rt_pub->unlockAndPublish();
+
818 }
+
819 }
+
820}
-
805
-
806template<>
-
807inline std::optional<bool> BaseControllerInterface::read_input<bool>(const std::string& name) {
-
808 if (!check_input_valid(name)) {
-
809 return {};
-
810 }
-
811 // no need to check for emptiness of the pointer: timestamps are default constructed to 0, so an input being valid
-
812 // means that a message was received
-
813 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Bool>>>(inputs_.at(name).buffer)
-
814 .readFromNonRT())
-
815 ->data;
-
816}
-
817
-
818template<>
-
819inline std::optional<double> BaseControllerInterface::read_input<double>(const std::string& name) {
-
820 if (!check_input_valid(name)) {
-
821 return {};
-
822 }
-
823 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64>>>(inputs_.at(name).buffer)
-
824 .readFromNonRT())
-
825 ->data;
-
826}
-
827
-
828template<>
-
829inline std::optional<std::vector<double>>
-
830BaseControllerInterface::read_input<std::vector<double>>(const std::string& name) {
-
831 if (!check_input_valid(name)) {
-
832 return {};
-
833 }
-
834 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Float64MultiArray>>>(
-
835 inputs_.at(name).buffer)
-
836 .readFromNonRT())
-
837 ->data;
-
838}
-
839
-
840template<>
-
841inline std::optional<int> BaseControllerInterface::read_input<int>(const std::string& name) {
-
842 if (!check_input_valid(name)) {
-
843 return {};
-
844 }
-
845 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::Int32>>>(inputs_.at(name).buffer)
-
846 .readFromNonRT())
-
847 ->data;
+
821
+
822template<typename PublisherT, typename MsgT, typename T>
+
823void BaseControllerInterface::write_std_output(const std::string& name, const T& data) {
+
824 if (outputs_.find(name) == outputs_.end()) {
+
825 RCLCPP_WARN_THROTTLE(
+
826 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Could not find output '%s'", name.c_str());
+
827 return;
+
828 }
+
829 PublisherT publishers;
+
830 try {
+
831 publishers = std::get<PublisherT>(outputs_.at(name));
+
832 } catch (const std::bad_variant_access&) {
+
833 RCLCPP_WARN_THROTTLE(
+
834 get_node()->get_logger(), *get_node()->get_clock(), 1000,
+
835 "Could not retrieve publisher for output '%s': Invalid output type", name.c_str());
+
836 return;
+
837 }
+
838 auto rt_pub = publishers.second;
+
839 if (rt_pub && rt_pub->trylock()) {
+
840 rt_pub->msg_.data = data;
+
841 rt_pub->unlockAndPublish();
+
842 }
+
843}
+
844
+
845template<>
+
846inline void BaseControllerInterface::write_output(const std::string& name, const bool& data) {
+
847 write_std_output<BoolPublishers, std_msgs::msg::Bool, bool>(name, data);
848}
849
850template<>
-
851inline std::optional<std::string> BaseControllerInterface::read_input<std::string>(const std::string& name) {
-
852 if (!check_input_valid(name)) {
-
853 return {};
-
854 }
-
855 return (*std::get<realtime_tools::RealtimeBuffer<std::shared_ptr<std_msgs::msg::String>>>(inputs_.at(name).buffer)
-
856 .readFromNonRT())
-
857 ->data;
+
851inline void BaseControllerInterface::write_output(const std::string& name, const double& data) {
+
852 write_std_output<DoublePublishers, std_msgs::msg::Float64, double>(name, data);
+
853}
+
854
+
855template<>
+
856inline void BaseControllerInterface::write_output(const std::string& name, const std::vector<double>& data) {
+
857 write_std_output<DoubleVecPublishers, std_msgs::msg::Float64MultiArray, std::vector<double>>(name, data);
858}
859
-
860template<typename T>
-
-
861inline void BaseControllerInterface::write_output(const std::string& name, const T& data) {
-
862 if (outputs_.find(name) == outputs_.end()) {
-
863 RCLCPP_WARN_THROTTLE(
-
864 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Could not find output '%s'", name.c_str());
-
865 return;
-
866 }
-
867
-
868 if constexpr (modulo_core::concepts::CustomT<T>) {
-
869 CustomPublishers publishers;
-
870 try {
-
871 publishers = std::get<CustomPublishers>(outputs_.at(name));
-
872 } catch (const std::bad_variant_access&) {
-
873 RCLCPP_WARN_THROTTLE(
-
874 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
875 "Could not retrieve publisher for output '%s': Invalid output type", name.c_str());
-
876 return;
-
877 }
-
878
-
879 std::shared_ptr<realtime_tools::RealtimePublisher<T>> rt_pub;
-
880 try {
-
881 rt_pub = std::any_cast<std::shared_ptr<realtime_tools::RealtimePublisher<T>>>(publishers.second);
-
882 } catch (const std::bad_any_cast& ex) {
-
883 RCLCPP_ERROR_THROTTLE(
-
884 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
885 "Skipping publication of output '%s' due to wrong data type: %s", name.c_str(), ex.what());
-
886 return;
-
887 }
-
888 if (rt_pub && rt_pub->trylock()) {
-
889 rt_pub->msg_ = data;
-
890 rt_pub->unlockAndPublish();
-
891 }
-
892 } else {
-
893 if (data.is_empty()) {
-
894 RCLCPP_DEBUG_THROTTLE(
-
895 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
896 "Skipping publication of output '%s' due to emptiness of state", name.c_str());
-
897 return;
-
898 }
-
899 EncodedStatePublishers publishers;
-
900 try {
-
901 publishers = std::get<EncodedStatePublishers>(outputs_.at(name));
-
902 } catch (const std::bad_variant_access&) {
-
903 RCLCPP_WARN_THROTTLE(
-
904 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
905 "Could not retrieve publisher for output '%s': Invalid output type", name.c_str());
-
906 return;
-
907 }
-
908 if (const auto output_type = std::get<0>(publishers)->get_type(); output_type != data.get_type()) {
-
909 RCLCPP_WARN_THROTTLE(
-
910 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
911 "Skipping publication of output '%s' due to wrong data type (expected '%s', got '%s')",
-
912 state_representation::get_state_type_name(output_type).c_str(),
-
913 state_representation::get_state_type_name(data.get_type()).c_str(), name.c_str());
-
914 return;
-
915 }
-
916 auto rt_pub = std::get<2>(publishers);
-
917 if (rt_pub && rt_pub->trylock()) {
-
918 try {
-
919 modulo_core::translators::write_message<T>(rt_pub->msg_, data, get_node()->get_clock()->now());
-
920 } catch (const modulo_core::exceptions::MessageTranslationException& ex) {
-
921 RCLCPP_ERROR_THROTTLE(
-
922 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Failed to publish output '%s': %s", name.c_str(),
-
923 ex.what());
-
924 }
-
925 rt_pub->unlockAndPublish();
-
926 }
-
927 }
-
928}
-
-
929
-
930template<typename PublisherT, typename MsgT, typename T>
-
931void BaseControllerInterface::write_std_output(const std::string& name, const T& data) {
-
932 if (outputs_.find(name) == outputs_.end()) {
-
933 RCLCPP_WARN_THROTTLE(
-
934 get_node()->get_logger(), *get_node()->get_clock(), 1000, "Could not find output '%s'", name.c_str());
-
935 return;
-
936 }
-
937 PublisherT publishers;
-
938 try {
-
939 publishers = std::get<PublisherT>(outputs_.at(name));
-
940 } catch (const std::bad_variant_access&) {
-
941 RCLCPP_WARN_THROTTLE(
-
942 get_node()->get_logger(), *get_node()->get_clock(), 1000,
-
943 "Could not retrieve publisher for output '%s': Invalid output type", name.c_str());
-
944 return;
-
945 }
-
946 auto rt_pub = publishers.second;
-
947 if (rt_pub && rt_pub->trylock()) {
-
948 rt_pub->msg_.data = data;
-
949 rt_pub->unlockAndPublish();
-
950 }
-
951}
-
952
-
953template<>
-
954inline void BaseControllerInterface::write_output(const std::string& name, const bool& data) {
-
955 write_std_output<BoolPublishers, std_msgs::msg::Bool, bool>(name, data);
-
956}
-
957
-
958template<>
-
959inline void BaseControllerInterface::write_output(const std::string& name, const double& data) {
-
960 write_std_output<DoublePublishers, std_msgs::msg::Float64, double>(name, data);
-
961}
-
962
-
963template<>
-
964inline void BaseControllerInterface::write_output(const std::string& name, const std::vector<double>& data) {
-
965 write_std_output<DoubleVecPublishers, std_msgs::msg::Float64MultiArray, std::vector<double>>(name, data);
-
966}
-
967
-
968template<>
-
969inline void BaseControllerInterface::write_output(const std::string& name, const int& data) {
-
970 write_std_output<IntPublishers, std_msgs::msg::Int32, int>(name, data);
-
971}
-
972
-
973template<>
-
974inline void BaseControllerInterface::write_output(const std::string& name, const std::string& data) {
-
975 write_std_output<StringPublishers, std_msgs::msg::String, std::string>(name, data);
-
976}
-
977
-
978template<typename T>
-
979inline void BaseControllerInterface::publish_transforms(
-
980 const std::vector<state_representation::CartesianPose>& transforms, const std::shared_ptr<T>& tf_broadcaster,
-
981 bool is_static) {
-
982 if (!is_node_initialized()) {
-
983 throw modulo_core::exceptions::CoreException("Failed send transform(s): Node is not initialized yet.");
-
984 }
-
985 std::string modifier = is_static ? "static " : "";
-
986 if (tf_broadcaster == nullptr) {
-
987 RCLCPP_ERROR_STREAM_THROTTLE(
-
988 this->get_node()->get_logger(), *this->get_node()->get_clock(), 1000,
-
989 "Failed to send " << modifier << "transform: No " << modifier << "TF broadcaster configured.");
-
990 return;
-
991 }
-
992 try {
-
993 std::vector<geometry_msgs::msg::TransformStamped> transform_messages;
-
994 transform_messages.reserve(transforms.size());
-
995 for (const auto& tf : transforms) {
-
996 geometry_msgs::msg::TransformStamped transform_message;
-
997 modulo_core::translators::write_message(transform_message, tf, this->get_node()->get_clock()->now());
-
998 transform_messages.emplace_back(transform_message);
-
999 }
-
1000 tf_broadcaster->sendTransform(transform_messages);
-
1001 } catch (const std::exception& ex) {
-
1002 RCLCPP_ERROR_STREAM_THROTTLE(
-
1003 this->get_node()->get_logger(), *this->get_node()->get_clock(), 1000,
-
1004 "Failed to send " << modifier << "transform: " << ex.what());
-
1005 }
-
1006}
-
1007}// namespace modulo_controllers
-
modulo_controllers::BaseControllerInterface
Base controller class to combine ros2_control, control libraries and modulo.
Definition BaseControllerInterface.hpp:109
-
modulo_controllers::BaseControllerInterface::send_static_transform
void send_static_transform(const state_representation::CartesianPose &transform)
Send a static transform to TF.
Definition BaseControllerInterface.cpp:632
-
modulo_controllers::BaseControllerInterface::get_parameter
std::shared_ptr< state_representation::ParameterInterface > get_parameter(const std::string &name) const
Get a parameter by name.
Definition BaseControllerInterface.cpp:106
-
modulo_controllers::BaseControllerInterface::on_configure
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
Add signals.
Definition BaseControllerInterface.cpp:43
-
modulo_controllers::BaseControllerInterface::add_static_tf_broadcaster
void add_static_tf_broadcaster()
Configure a static transform broadcaster.
Definition BaseControllerInterface.cpp:611
-
modulo_controllers::BaseControllerInterface::get_qos
rclcpp::QoS get_qos() const
Getter of the Quality of Service attribute.
Definition BaseControllerInterface.cpp:641
-
modulo_controllers::BaseControllerInterface::send_static_transforms
void send_static_transforms(const std::vector< state_representation::CartesianPose > &transforms)
Send a vector of static transforms to TF.
Definition BaseControllerInterface.cpp:636
-
modulo_controllers::BaseControllerInterface::lookup_transform
state_representation::CartesianPose lookup_transform(const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration)
Look up a transform from TF.
Definition BaseControllerInterface.cpp:560
-
modulo_controllers::BaseControllerInterface::add_tf_broadcaster
void add_tf_broadcaster()
Configure a transform broadcaster.
Definition BaseControllerInterface.cpp:598
-
modulo_controllers::BaseControllerInterface::is_active
bool is_active() const
Check if the controller is currently in state active or not.
Definition BaseControllerInterface.cpp:649
-
modulo_controllers::BaseControllerInterface::send_transform
void send_transform(const state_representation::CartesianPose &transform)
Send a transform to TF.
Definition BaseControllerInterface.cpp:624
-
modulo_controllers::BaseControllerInterface::set_parameter_value
void set_parameter_value(const std::string &name, const T &value)
Set the value of a parameter.
Definition BaseControllerInterface.hpp:616
-
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:606
-
modulo_controllers::BaseControllerInterface::add_output
void add_output(const std::string &name, const std::string &topic_name="")
Add an output to the controller.
Definition BaseControllerInterface.hpp:715
-
modulo_controllers::BaseControllerInterface::set_input_validity_period
void set_input_validity_period(double input_validity_period)
Set the input validity period of input signals.
Definition BaseControllerInterface.cpp:425
-
modulo_controllers::BaseControllerInterface::on_init
CallbackReturn on_init() override
Declare parameters and register the on_set_parameters callback.
Definition BaseControllerInterface.cpp:29
-
modulo_controllers::BaseControllerInterface::read_input
std::optional< T > read_input(const std::string &name)
Read the most recent message of an input.
Definition BaseControllerInterface.hpp:761
+
860template<>
+
861inline void BaseControllerInterface::write_output(const std::string& name, const int& data) {
+
862 write_std_output<IntPublishers, std_msgs::msg::Int32, int>(name, data);
+
863}
+
864
+
865template<>
+
866inline void BaseControllerInterface::write_output(const std::string& name, const std::string& data) {
+
867 write_std_output<StringPublishers, std_msgs::msg::String, std::string>(name, data);
+
868}
+
869
+
870}// namespace modulo_controllers
+
modulo_controllers::BaseControllerInterface
Base controller class to combine ros2_control, control libraries and modulo.
Definition BaseControllerInterface.hpp:105
+
modulo_controllers::BaseControllerInterface::get_parameter
std::shared_ptr< state_representation::ParameterInterface > get_parameter(const std::string &name) const
Get a parameter by name.
Definition BaseControllerInterface.cpp:102
+
modulo_controllers::BaseControllerInterface::on_configure
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
Add signals.
Definition BaseControllerInterface.cpp:39
+
modulo_controllers::BaseControllerInterface::get_qos
rclcpp::QoS get_qos() const
Getter of the Quality of Service attribute.
Definition BaseControllerInterface.cpp:542
+
modulo_controllers::BaseControllerInterface::is_active
bool is_active() const
Check if the controller is currently in state active or not.
Definition BaseControllerInterface.cpp:550
+
modulo_controllers::BaseControllerInterface::set_parameter_value
void set_parameter_value(const std::string &name, const T &value)
Set the value of a parameter.
Definition BaseControllerInterface.hpp:508
+
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:498
+
modulo_controllers::BaseControllerInterface::add_output
void add_output(const std::string &name, const std::string &topic_name="")
Add an output to the controller.
Definition BaseControllerInterface.hpp:607
+
modulo_controllers::BaseControllerInterface::set_input_validity_period
void set_input_validity_period(double input_validity_period)
Set the input validity period of input signals.
Definition BaseControllerInterface.cpp:421
+
modulo_controllers::BaseControllerInterface::on_init
CallbackReturn on_init() override
Declare parameters and register the on_set_parameters callback.
Definition BaseControllerInterface.cpp:25
+
modulo_controllers::BaseControllerInterface::read_input
std::optional< T > read_input(const std::string &name)
Read the most recent message of an input.
Definition BaseControllerInterface.hpp:653
modulo_controllers::BaseControllerInterface::add_parameter
void add_parameter(const std::shared_ptr< state_representation::ParameterInterface > &parameter, const std::string &description, bool read_only=false)
Add a parameter.
-
modulo_controllers::BaseControllerInterface::write_output
void write_output(const std::string &name, const T &data)
Write an object to an output.
Definition BaseControllerInterface.hpp:861
-
modulo_controllers::BaseControllerInterface::trigger
void trigger(const std::string &trigger_name)
Latch the trigger with the provided name.
Definition BaseControllerInterface.cpp:255
-
modulo_controllers::BaseControllerInterface::set_qos
void set_qos(const rclcpp::QoS &qos)
Set the Quality of Service for ROS publishers and subscribers.
Definition BaseControllerInterface.cpp:645
-
modulo_controllers::BaseControllerInterface::add_input
void add_input(const std::string &name, const std::string &topic_name="")
Add an input to the controller.
Definition BaseControllerInterface.hpp:636
-
modulo_controllers::BaseControllerInterface::add_tf_listener
void add_tf_listener()
Configure a transform buffer and listener.
Definition BaseControllerInterface.cpp:546
-
modulo_controllers::BaseControllerInterface::set_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...
Definition BaseControllerInterface.cpp:215
-
modulo_controllers::BaseControllerInterface::add_predicate
void add_predicate(const std::string &predicate_name, bool predicate_value)
Add a predicate to the map of predicates.
Definition BaseControllerInterface.cpp:172
-
modulo_controllers::BaseControllerInterface::get_predicate
bool get_predicate(const std::string &predicate_name) const
Get the logical value of a predicate.
Definition BaseControllerInterface.cpp:197
-
modulo_controllers::BaseControllerInterface::is_node_initialized
bool is_node_initialized() const
Check if the node has been initialized or not.
Definition BaseControllerInterface.cpp:657
-
modulo_controllers::BaseControllerInterface::on_validate_parameter_callback
virtual bool on_validate_parameter_callback(const std::shared_ptr< state_representation::ParameterInterface > &parameter)
Parameter validation function to be redefined by derived controller classes.
Definition BaseControllerInterface.cpp:168
-
modulo_controllers::BaseControllerInterface::BaseControllerInterface
BaseControllerInterface()
Default constructor.
Definition BaseControllerInterface.cpp:26
-
modulo_controllers::BaseControllerInterface::add_service
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.
Definition BaseControllerInterface.cpp:479
-
modulo_controllers::BaseControllerInterface::get_command_mutex
std::timed_mutex & get_command_mutex()
Get the reference to the command mutex.
Definition BaseControllerInterface.cpp:653
-
modulo_controllers::BaseControllerInterface::add_trigger
void add_trigger(const std::string &trigger_name)
Add a trigger to the controller.
Definition BaseControllerInterface.cpp:234
-
modulo_controllers::BaseControllerInterface::send_transforms
void send_transforms(const std::vector< state_representation::CartesianPose > &transforms)
Send a vector of transforms to TF.
Definition BaseControllerInterface.cpp:628
-
modulo_core::exceptions::CoreException
A base class for all core exceptions.
Definition exceptions.hpp:17
+
modulo_controllers::BaseControllerInterface::write_output
void write_output(const std::string &name, const T &data)
Write an object to an output.
Definition BaseControllerInterface.hpp:753
+
modulo_controllers::BaseControllerInterface::trigger
void trigger(const std::string &trigger_name)
Latch the trigger with the provided name.
Definition BaseControllerInterface.cpp:251
+
modulo_controllers::BaseControllerInterface::set_qos
void set_qos(const rclcpp::QoS &qos)
Set the Quality of Service for ROS publishers and subscribers.
Definition BaseControllerInterface.cpp:546
+
modulo_controllers::BaseControllerInterface::add_input
void add_input(const std::string &name, const std::string &topic_name="")
Add an input to the controller.
Definition BaseControllerInterface.hpp:528
+
modulo_controllers::BaseControllerInterface::set_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...
Definition BaseControllerInterface.cpp:211
+
modulo_controllers::BaseControllerInterface::add_predicate
void add_predicate(const std::string &predicate_name, bool predicate_value)
Add a predicate to the map of predicates.
Definition BaseControllerInterface.cpp:168
+
modulo_controllers::BaseControllerInterface::get_predicate
bool get_predicate(const std::string &predicate_name) const
Get the logical value of a predicate.
Definition BaseControllerInterface.cpp:193
+
modulo_controllers::BaseControllerInterface::on_validate_parameter_callback
virtual bool on_validate_parameter_callback(const std::shared_ptr< state_representation::ParameterInterface > &parameter)
Parameter validation function to be redefined by derived controller classes.
Definition BaseControllerInterface.cpp:164
+
modulo_controllers::BaseControllerInterface::BaseControllerInterface
BaseControllerInterface()
Default constructor.
Definition BaseControllerInterface.cpp:22
+
modulo_controllers::BaseControllerInterface::add_service
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.
Definition BaseControllerInterface.cpp:475
+
modulo_controllers::BaseControllerInterface::get_command_mutex
std::timed_mutex & get_command_mutex()
Get the reference to the command mutex.
Definition BaseControllerInterface.cpp:554
+
modulo_controllers::BaseControllerInterface::add_trigger
void add_trigger(const std::string &trigger_name)
Add a trigger to the controller.
Definition BaseControllerInterface.cpp:230
modulo_core::exceptions::MessageTranslationException
An exception class to notify that the translation of a ROS message failed.
Definition exceptions.hpp:80
modulo_core::exceptions::ParameterException
An exception class to notify errors with parameters in modulo classes.
Definition exceptions.hpp:101
modulo_core::concepts::CustomT
Definition concepts.hpp:31
-
modulo_core::translators::write_message
void write_message(geometry_msgs::msg::Accel &message, const state_representation::CartesianState &state, const rclcpp::Time &time)
Convert a CartesianState to a ROS geometry_msgs::msg::Accel.
modulo_core::translators::write_parameter
rclcpp::Parameter write_parameter(const std::shared_ptr< state_representation::ParameterInterface > &parameter)
Write a ROS Parameter from a ParameterInterface pointer.
-
modulo_controllers::ControllerInput
Input structure to save topic data in a realtime buffer and timestamps in one object.
Definition BaseControllerInterface.hpp:87
-
modulo_controllers::ControllerServiceResponse
Response structure to be returned by controller services.
Definition BaseControllerInterface.hpp:100
+
modulo_controllers::ControllerInput
Input structure to save topic data in a realtime buffer and timestamps in one object.
Definition BaseControllerInterface.hpp:83
+
modulo_controllers::ControllerServiceResponse
Response structure to be returned by controller services.
Definition BaseControllerInterface.hpp:96
diff --git a/versions/main/_component_interface_8cpp_source.html b/versions/main/_component_interface_8cpp_source.html index 5322cc23..bba74c42 100644 --- a/versions/main/_component_interface_8cpp_source.html +++ b/versions/main/_component_interface_8cpp_source.html @@ -680,7 +680,7 @@
537 const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
538 const tf2::Duration& duration) {
539 if (this->tf_buffer_ == nullptr || this->tf_listener_ == nullptr) {
-
540 throw exceptions::LookupTransformException("Failed to lookup transform: No TF buffer / listener configured.");
+
540 throw exceptions::LookupTransformException("Failed to lookup transform: To TF buffer / listener configured.");
541 }
542 try {
543 return this->tf_buffer_->lookupTransform(reference_frame, frame, time_point, duration);
diff --git a/versions/main/_controller_interface_8cpp_source.html b/versions/main/_controller_interface_8cpp_source.html index c82369eb..8407732d 100644 --- a/versions/main/_controller_interface_8cpp_source.html +++ b/versions/main/_controller_interface_8cpp_source.html @@ -413,14 +413,14 @@
291
292}// namespace modulo_controllers
-
modulo_controllers::BaseControllerInterface
Base controller class to combine ros2_control, control libraries and modulo.
Definition BaseControllerInterface.hpp:109
-
modulo_controllers::BaseControllerInterface::get_parameter
std::shared_ptr< state_representation::ParameterInterface > get_parameter(const std::string &name) const
Get a parameter by name.
Definition BaseControllerInterface.cpp:106
-
modulo_controllers::BaseControllerInterface::on_configure
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
Add signals.
Definition BaseControllerInterface.cpp:43
-
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:606
-
modulo_controllers::BaseControllerInterface::set_input_validity_period
void set_input_validity_period(double input_validity_period)
Set the input validity period of input signals.
Definition BaseControllerInterface.cpp:425
-
modulo_controllers::BaseControllerInterface::on_init
CallbackReturn on_init() override
Declare parameters and register the on_set_parameters callback.
Definition BaseControllerInterface.cpp:29
+
modulo_controllers::BaseControllerInterface
Base controller class to combine ros2_control, control libraries and modulo.
Definition BaseControllerInterface.hpp:105
+
modulo_controllers::BaseControllerInterface::get_parameter
std::shared_ptr< state_representation::ParameterInterface > get_parameter(const std::string &name) const
Get a parameter by name.
Definition BaseControllerInterface.cpp:102
+
modulo_controllers::BaseControllerInterface::on_configure
CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
Add signals.
Definition BaseControllerInterface.cpp:39
+
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:498
+
modulo_controllers::BaseControllerInterface::set_input_validity_period
void set_input_validity_period(double input_validity_period)
Set the input validity period of input signals.
Definition BaseControllerInterface.cpp:421
+
modulo_controllers::BaseControllerInterface::on_init
CallbackReturn on_init() override
Declare parameters and register the on_set_parameters callback.
Definition BaseControllerInterface.cpp:25
modulo_controllers::BaseControllerInterface::add_parameter
void add_parameter(const std::shared_ptr< state_representation::ParameterInterface > &parameter, const std::string &description, bool read_only=false)
Add a parameter.
-
modulo_controllers::BaseControllerInterface::get_command_mutex
std::timed_mutex & get_command_mutex()
Get the reference to the command mutex.
Definition BaseControllerInterface.cpp:653
+
modulo_controllers::BaseControllerInterface::get_command_mutex
std::timed_mutex & get_command_mutex()
Get the reference to the command mutex.
Definition BaseControllerInterface.cpp:554
modulo_controllers::ControllerInterface::add_interfaces
virtual CallbackReturn add_interfaces()
Add interfaces like parameters, signals, services, and predicates to the controller.
Definition ControllerInterface.cpp:39
modulo_controllers::ControllerInterface::command_interface_configuration
controller_interface::InterfaceConfiguration command_interface_configuration() const final
Configure the command interfaces.
Definition ControllerInterface.cpp:106
modulo_controllers::ControllerInterface::write_command_interfaces
virtual controller_interface::return_type write_command_interfaces(const rclcpp::Duration &period)
Write the command interfaces.
Definition ControllerInterface.cpp:262
diff --git a/versions/main/_controller_interface_8hpp_source.html b/versions/main/_controller_interface_8hpp_source.html index 909900c4..a43b09db 100644 --- a/versions/main/_controller_interface_8hpp_source.html +++ b/versions/main/_controller_interface_8hpp_source.html @@ -159,8 +159,8 @@
198
199}// namespace modulo_controllers
-
modulo_controllers::BaseControllerInterface
Base controller class to combine ros2_control, control libraries and modulo.
Definition BaseControllerInterface.hpp:109
-
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:606
+
modulo_controllers::BaseControllerInterface
Base controller class to combine ros2_control, control libraries and modulo.
Definition BaseControllerInterface.hpp:105
+
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:498
modulo_controllers::ControllerInterface
Definition ControllerInterface.hpp:10
modulo_controllers::ControllerInterface::add_interfaces
virtual CallbackReturn add_interfaces()
Add interfaces like parameters, signals, services, and predicates to the controller.
Definition ControllerInterface.cpp:39
modulo_controllers::ControllerInterface::command_interface_configuration
controller_interface::InterfaceConfiguration command_interface_configuration() const final
Configure the command interfaces.
Definition ControllerInterface.cpp:106
diff --git a/versions/main/_robot_controller_interface_8cpp_source.html b/versions/main/_robot_controller_interface_8cpp_source.html index 25e659c7..c3942d59 100644 --- a/versions/main/_robot_controller_interface_8cpp_source.html +++ b/versions/main/_robot_controller_interface_8cpp_source.html @@ -467,8 +467,8 @@
365
366}// namespace modulo_controllers
-
modulo_controllers::BaseControllerInterface::get_parameter
std::shared_ptr< state_representation::ParameterInterface > get_parameter(const std::string &name) const
Get a parameter by name.
Definition BaseControllerInterface.cpp:106
-
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:606
+
modulo_controllers::BaseControllerInterface::get_parameter
std::shared_ptr< state_representation::ParameterInterface > get_parameter(const std::string &name) const
Get a parameter by name.
Definition BaseControllerInterface.cpp:102
+
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:498
modulo_controllers::BaseControllerInterface::add_parameter
void add_parameter(const std::shared_ptr< state_representation::ParameterInterface > &parameter, const std::string &description, bool read_only=false)
Add a parameter.
modulo_controllers::ControllerInterface
Definition ControllerInterface.hpp:10
modulo_controllers::ControllerInterface::write_command_interfaces
virtual controller_interface::return_type write_command_interfaces(const rclcpp::Duration &period)
Write the command interfaces.
Definition ControllerInterface.cpp:262
diff --git a/versions/main/_robot_controller_interface_8hpp_source.html b/versions/main/_robot_controller_interface_8hpp_source.html index 8b31f0f9..c49c39b7 100644 --- a/versions/main/_robot_controller_interface_8hpp_source.html +++ b/versions/main/_robot_controller_interface_8hpp_source.html @@ -155,7 +155,7 @@
135
136}// namespace modulo_controllers
-
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:606
+
modulo_controllers::BaseControllerInterface::get_parameter_value
T get_parameter_value(const std::string &name) const
Get a parameter value by name.
Definition BaseControllerInterface.hpp:498
modulo_controllers::ControllerInterface
Definition ControllerInterface.hpp:10
modulo_controllers::RobotControllerInterface
Base controller class that automatically associates joints with a JointState object.
Definition RobotControllerInterface.hpp:23
modulo_controllers::RobotControllerInterface::RobotControllerInterface
RobotControllerInterface()
Default constructor.
Definition RobotControllerInterface.cpp:18
diff --git a/versions/main/classmodulo__controllers_1_1_base_controller_interface-members.html b/versions/main/classmodulo__controllers_1_1_base_controller_interface-members.html index 803d5f85..c3fcf97f 100644 --- a/versions/main/classmodulo__controllers_1_1_base_controller_interface-members.html +++ b/versions/main/classmodulo__controllers_1_1_base_controller_interface-members.html @@ -93,20 +93,14 @@ add_predicate(const std::string &predicate_name, const std::function< bool(void)> &predicate_function)modulo_controllers::BaseControllerInterfaceprotected add_service(const std::string &service_name, const std::function< ControllerServiceResponse(void)> &callback)modulo_controllers::BaseControllerInterfaceprotected add_service(const std::string &service_name, const std::function< ControllerServiceResponse(const std::string &string)> &callback)modulo_controllers::BaseControllerInterfaceprotected - add_static_tf_broadcaster()modulo_controllers::BaseControllerInterfaceprotected - add_tf_broadcaster()modulo_controllers::BaseControllerInterfaceprotected - add_tf_listener()modulo_controllers::BaseControllerInterfaceprotected - add_trigger(const std::string &trigger_name)modulo_controllers::BaseControllerInterfaceprotected - BaseControllerInterface()modulo_controllers::BaseControllerInterface - get_command_mutex()modulo_controllers::BaseControllerInterfaceprotected - get_parameter(const std::string &name) constmodulo_controllers::BaseControllerInterfaceprotected - get_parameter_value(const std::string &name) constmodulo_controllers::BaseControllerInterfaceinlineprotected - get_predicate(const std::string &predicate_name) constmodulo_controllers::BaseControllerInterfaceprotected - get_qos() constmodulo_controllers::BaseControllerInterfaceprotected - is_active() constmodulo_controllers::BaseControllerInterfaceprotected - is_node_initialized() constmodulo_controllers::BaseControllerInterfaceprotected - lookup_transform(const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration)modulo_controllers::BaseControllerInterfaceprotected - lookup_transform(const std::string &frame, const std::string &reference_frame="world", double validity_period=-1.0, const tf2::Duration &duration=tf2::Duration(std::chrono::microseconds(10)))modulo_controllers::BaseControllerInterfaceprotected + add_trigger(const std::string &trigger_name)modulo_controllers::BaseControllerInterfaceprotected + BaseControllerInterface()modulo_controllers::BaseControllerInterface + get_command_mutex()modulo_controllers::BaseControllerInterfaceprotected + get_parameter(const std::string &name) constmodulo_controllers::BaseControllerInterfaceprotected + get_parameter_value(const std::string &name) constmodulo_controllers::BaseControllerInterfaceinlineprotected + get_predicate(const std::string &predicate_name) constmodulo_controllers::BaseControllerInterfaceprotected + get_qos() constmodulo_controllers::BaseControllerInterfaceprotected + is_active() constmodulo_controllers::BaseControllerInterfaceprotected on_configure(const rclcpp_lifecycle::State &previous_state) overridemodulo_controllers::BaseControllerInterface on_init() overridemodulo_controllers::BaseControllerInterface on_validate_parameter_callback(const std::shared_ptr< state_representation::ParameterInterface > &parameter)modulo_controllers::BaseControllerInterfaceprotectedvirtual @@ -114,10 +108,6 @@ read_input(const std::string &name) (defined in modulo_controllers::BaseControllerInterface)modulo_controllers::BaseControllerInterfaceinlineprotected read_input(const std::string &name) (defined in modulo_controllers::BaseControllerInterface)modulo_controllers::BaseControllerInterfaceinlineprotected read_input(const std::string &name) (defined in modulo_controllers::BaseControllerInterface)modulo_controllers::BaseControllerInterfaceinlineprotected - send_static_transform(const state_representation::CartesianPose &transform)modulo_controllers::BaseControllerInterfaceprotected - send_static_transforms(const std::vector< state_representation::CartesianPose > &transforms)modulo_controllers::BaseControllerInterfaceprotected - send_transform(const state_representation::CartesianPose &transform)modulo_controllers::BaseControllerInterfaceprotected - send_transforms(const std::vector< state_representation::CartesianPose > &transforms)modulo_controllers::BaseControllerInterfaceprotected set_input_validity_period(double input_validity_period)modulo_controllers::BaseControllerInterfaceprotected set_parameter_value(const std::string &name, const T &value)modulo_controllers::BaseControllerInterfaceinlineprotected set_predicate(const std::string &predicate_name, bool predicate_value)modulo_controllers::BaseControllerInterfaceprotected diff --git a/versions/main/classmodulo__controllers_1_1_base_controller_interface.html b/versions/main/classmodulo__controllers_1_1_base_controller_interface.html index 23a54175..ab6a05b9 100644 --- a/versions/main/classmodulo__controllers_1_1_base_controller_interface.html +++ b/versions/main/classmodulo__controllers_1_1_base_controller_interface.html @@ -192,33 +192,6 @@ 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.
  -void add_tf_listener () - Configure a transform buffer and listener.
-  -state_representation::CartesianPose lookup_transform (const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration) - Look up a transform from TF.
-  -state_representation::CartesianPose lookup_transform (const std::string &frame, const std::string &reference_frame="world", double validity_period=-1.0, const tf2::Duration &duration=tf2::Duration(std::chrono::microseconds(10))) - Look up a transform from TF.
-  -void add_tf_broadcaster () - Configure a transform broadcaster.
-  -void add_static_tf_broadcaster () - Configure a static transform broadcaster.
-  -void send_transform (const state_representation::CartesianPose &transform) - Send a transform to TF.
-  -void send_transforms (const std::vector< state_representation::CartesianPose > &transforms) - Send a vector of transforms to TF.
-  -void send_static_transform (const state_representation::CartesianPose &transform) - Send a static transform to TF.
-  -void send_static_transforms (const std::vector< state_representation::CartesianPose > &transforms) - Send a vector of static transforms to TF.
-  rclcpp::QoS get_qos () const  Getter of the Quality of Service attribute.
  @@ -231,9 +204,6 @@ std::timed_mutex & get_command_mutex ()  Get the reference to the command mutex.
  -bool is_node_initialized () const - Check if the node has been initialized or not.
-  template<> void add_input (const std::string &name, const std::string &topic_name)   @@ -265,7 +235,7 @@

Detailed Description

Base controller class to combine ros2_control, control libraries and modulo.

-

Definition at line 109 of file BaseControllerInterface.hpp.

+

Definition at line 105 of file BaseControllerInterface.hpp.

Constructor & Destructor Documentation

◆ BaseControllerInterface()

@@ -284,7 +254,7 @@

Definition at line 26 of file BaseControllerInterface.cpp.

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Definition at line 22 of file BaseControllerInterface.cpp.

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-

Definition at line 670 of file BaseControllerInterface.hpp.

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Definition at line 562 of file BaseControllerInterface.hpp.

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-

Definition at line 677 of file BaseControllerInterface.hpp.

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Definition at line 569 of file BaseControllerInterface.hpp.

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Definition at line 692 of file BaseControllerInterface.hpp.

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Definition at line 584 of file BaseControllerInterface.hpp.

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Definition at line 636 of file BaseControllerInterface.hpp.

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Definition at line 528 of file BaseControllerInterface.hpp.

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-

Definition at line 735 of file BaseControllerInterface.hpp.

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Definition at line 627 of file BaseControllerInterface.hpp.

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-

Definition at line 740 of file BaseControllerInterface.hpp.

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Definition at line 632 of file BaseControllerInterface.hpp.

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-

Definition at line 751 of file BaseControllerInterface.hpp.

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Definition at line 643 of file BaseControllerInterface.hpp.

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Definition at line 715 of file BaseControllerInterface.hpp.

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Definition at line 607 of file BaseControllerInterface.hpp.

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Definition at line 596 of file BaseControllerInterface.hpp.

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Definition at line 488 of file BaseControllerInterface.hpp.

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Definition at line 172 of file BaseControllerInterface.cpp.

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Definition at line 168 of file BaseControllerInterface.cpp.

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Definition at line 176 of file BaseControllerInterface.cpp.

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Definition at line 172 of file BaseControllerInterface.cpp.

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Definition at line 512 of file BaseControllerInterface.cpp.

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Definition at line 508 of file BaseControllerInterface.cpp.

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Definition at line 479 of file BaseControllerInterface.cpp.

- - - - -

◆ add_static_tf_broadcaster()

- -
-
- - - - - -
- - - - - - - -
void modulo_controllers::BaseControllerInterface::add_static_tf_broadcaster ()
- 		-protected
-
- -

Configure a static transform broadcaster.

- -

Definition at line 611 of file BaseControllerInterface.cpp.

- -
-
- -

◆ add_tf_broadcaster()

- -
-
- - - - - -
- - - - - - - -
void modulo_controllers::BaseControllerInterface::add_tf_broadcaster ()
- 		-protected
-
- -

Configure a transform broadcaster.

- -

Definition at line 598 of file BaseControllerInterface.cpp.

- -
-
- -

◆ add_tf_listener()

- -
-
- - - - - -
- - - - - - - -
void modulo_controllers::BaseControllerInterface::add_tf_listener ()
- 		-protected
-
- -

Configure a transform buffer and listener.

- -

Definition at line 546 of file BaseControllerInterface.cpp.

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Definition at line 475 of file BaseControllerInterface.cpp.

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Definition at line 234 of file BaseControllerInterface.cpp.

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Definition at line 230 of file BaseControllerInterface.cpp.

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Returns
The reference to the command mutex
-

Definition at line 653 of file BaseControllerInterface.cpp.

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Definition at line 554 of file BaseControllerInterface.cpp.

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Returns
The ParameterInterface pointer to a Parameter instance
-

Definition at line 106 of file BaseControllerInterface.cpp.

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Definition at line 102 of file BaseControllerInterface.cpp.

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Returns
The value of the parameter
-

Definition at line 606 of file BaseControllerInterface.hpp.

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Definition at line 498 of file BaseControllerInterface.hpp.

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Returns
the value of the predicate as a boolean
-

Definition at line 197 of file BaseControllerInterface.cpp.

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Definition at line 193 of file BaseControllerInterface.cpp.

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Returns
The Quality of Service attribute
-

Definition at line 641 of file BaseControllerInterface.cpp.

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Definition at line 542 of file BaseControllerInterface.cpp.

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Returns
True if the controller is active, false otherwise
-

Definition at line 649 of file BaseControllerInterface.cpp.

- - - - -

◆ is_node_initialized()

- -
-
- - - - - -
- - - - - - - -
bool modulo_controllers::BaseControllerInterface::is_node_initialized () const
- 		-protected
-
- -

Check if the node has been initialized or not.

-
Returns
True if the node is initialized, false otherwise
- -

Definition at line 657 of file BaseControllerInterface.cpp.

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◆ lookup_transform() [1/2]

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state_representation::CartesianPose modulo_controllers::BaseControllerInterface::lookup_transform (const std::string & frame,
const std::string & reference_frame,
const tf2::TimePoint & time_point,
const tf2::Duration & duration 
)
- 		-protected
-
- -

Look up a transform from TF.

-
Parameters
- - - - - -
frameThe desired frame of the transform
reference_frameThe desired reference frame of the transform
time_pointThe time at which the value of the transform is desired
durationHow long to block the lookup call before failing
-
-
-
Exceptions
- - -
modulo_core::exceptions::LookupTransformExceptionif TF buffer/listener are unconfigured or if the lookupTransform call failed
-
-
-
Returns
If it exists, the requested transform
- -

Definition at line 560 of file BaseControllerInterface.cpp.

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-
- -

◆ lookup_transform() [2/2]

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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
state_representation::CartesianPose modulo_controllers::BaseControllerInterface::lookup_transform (const std::string & frame,
const std::string & reference_frame = "world",
double validity_period = -1.0,
const tf2::Duration & duration = tf2::Duration(std::chrono::microseconds(10)) 
)
- 		-protected
-
- -

Look up a transform from TF.

-
Parameters
- - - - - -
frameThe desired frame of the transform
reference_frameThe desired reference frame of the transform
validity_periodThe validity period of the latest transform from the time of lookup in seconds
durationHow long to block the lookup call before failing
-
-
-
Exceptions
- - -
modulo_core::exceptions::LookupTransformExceptionif TF buffer/listener are unconfigured, if the lookupTransform call failed, or if the transform is too old
-
-
-
Returns
If it exists and is still valid, the requested transform
- -

Definition at line 569 of file BaseControllerInterface.cpp.

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Definition at line 550 of file BaseControllerInterface.cpp.

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Returns
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modulo_controllers::RobotControllerInterface.

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Returns
The data on the desired input channel if the input exists and is not older than parameter 'input_validity_period'
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Send a static transform to TF.

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Send a vector of static transforms to TF.

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Send a transform to TF.

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Send a vector of transforms to TF.

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Returns
The value of the parameter
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diff --git a/versions/main/classmodulo__controllers_1_1_controller_interface-members.html b/versions/main/classmodulo__controllers_1_1_controller_interface-members.html index fce0b4b0..b73902d3 100644 --- a/versions/main/classmodulo__controllers_1_1_controller_interface-members.html +++ b/versions/main/classmodulo__controllers_1_1_controller_interface-members.html @@ -96,27 +96,21 @@ add_service(const std::string &service_name, const std::function< ControllerServiceResponse(void)> &callback)modulo_controllers::BaseControllerInterfaceprotected add_service(const std::string &service_name, const std::function< ControllerServiceResponse(const std::string &string)> &callback)modulo_controllers::BaseControllerInterfaceprotected add_state_interface(const std::string &name, const std::string &interface)modulo_controllers::ControllerInterfaceprotected - add_static_tf_broadcaster()modulo_controllers::BaseControllerInterfaceprotected - add_tf_broadcaster()modulo_controllers::BaseControllerInterfaceprotected - add_tf_listener()modulo_controllers::BaseControllerInterfaceprotected - add_trigger(const std::string &trigger_name)modulo_controllers::BaseControllerInterfaceprotected - BaseControllerInterface()modulo_controllers::BaseControllerInterface - command_interface_configuration() const finalmodulo_controllers::ControllerInterface - ControllerInterface(bool claim_all_state_interfaces=false)modulo_controllers::ControllerInterface - evaluate(const rclcpp::Time &time, const std::chrono::nanoseconds &period)=0modulo_controllers::ControllerInterfaceprotectedpure virtual - get_command_interface(const std::string &name, const std::string &interface) constmodulo_controllers::ControllerInterfaceprotected - get_command_mutex()modulo_controllers::BaseControllerInterfaceprotected - get_parameter(const std::string &name) constmodulo_controllers::BaseControllerInterfaceprotected - get_parameter_value(const std::string &name) constmodulo_controllers::BaseControllerInterfaceinlineprotected - get_predicate(const std::string &predicate_name) constmodulo_controllers::BaseControllerInterfaceprotected - get_qos() constmodulo_controllers::BaseControllerInterfaceprotected - get_state_interface(const std::string &name, const std::string &interface) constmodulo_controllers::ControllerInterfaceprotected - get_state_interfaces(const std::string &name) constmodulo_controllers::ControllerInterfaceprotected - hardware_name_modulo_controllers::ControllerInterfaceprotected - is_active() constmodulo_controllers::BaseControllerInterfaceprotected - is_node_initialized() constmodulo_controllers::BaseControllerInterfaceprotected - lookup_transform(const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration)modulo_controllers::BaseControllerInterfaceprotected - lookup_transform(const std::string &frame, const std::string &reference_frame="world", double validity_period=-1.0, const tf2::Duration &duration=tf2::Duration(std::chrono::microseconds(10)))modulo_controllers::BaseControllerInterfaceprotected + add_trigger(const std::string &trigger_name)modulo_controllers::BaseControllerInterfaceprotected + BaseControllerInterface()modulo_controllers::BaseControllerInterface + command_interface_configuration() const finalmodulo_controllers::ControllerInterface + ControllerInterface(bool claim_all_state_interfaces=false)modulo_controllers::ControllerInterface + evaluate(const rclcpp::Time &time, const std::chrono::nanoseconds &period)=0modulo_controllers::ControllerInterfaceprotectedpure virtual + get_command_interface(const std::string &name, const std::string &interface) constmodulo_controllers::ControllerInterfaceprotected + get_command_mutex()modulo_controllers::BaseControllerInterfaceprotected + get_parameter(const std::string &name) constmodulo_controllers::BaseControllerInterfaceprotected + get_parameter_value(const std::string &name) constmodulo_controllers::BaseControllerInterfaceinlineprotected + get_predicate(const std::string &predicate_name) constmodulo_controllers::BaseControllerInterfaceprotected + get_qos() constmodulo_controllers::BaseControllerInterfaceprotected + get_state_interface(const std::string &name, const std::string &interface) constmodulo_controllers::ControllerInterfaceprotected + get_state_interfaces(const std::string &name) constmodulo_controllers::ControllerInterfaceprotected + hardware_name_modulo_controllers::ControllerInterfaceprotected + is_active() constmodulo_controllers::BaseControllerInterfaceprotected on_activate(const rclcpp_lifecycle::State &previous_state) finalmodulo_controllers::ControllerInterface on_activate()modulo_controllers::ControllerInterfaceprotectedvirtual on_configure(const rclcpp_lifecycle::State &previous_state) finalmodulo_controllers::ControllerInterface @@ -130,10 +124,6 @@ read_input(const std::string &name) (defined in modulo_controllers::BaseControllerInterface)modulo_controllers::BaseControllerInterfaceinlineprotected read_input(const std::string &name) (defined in modulo_controllers::BaseControllerInterface)modulo_controllers::BaseControllerInterfaceinlineprotected read_state_interfaces()modulo_controllers::ControllerInterfaceprotectedvirtual - send_static_transform(const state_representation::CartesianPose &transform)modulo_controllers::BaseControllerInterfaceprotected - send_static_transforms(const std::vector< state_representation::CartesianPose > &transforms)modulo_controllers::BaseControllerInterfaceprotected - send_transform(const state_representation::CartesianPose &transform)modulo_controllers::BaseControllerInterfaceprotected - send_transforms(const std::vector< state_representation::CartesianPose > &transforms)modulo_controllers::BaseControllerInterfaceprotected set_command_interface(const std::string &name, const std::string &interface, double value)modulo_controllers::ControllerInterfaceprotected set_input_validity_period(double input_validity_period)modulo_controllers::BaseControllerInterfaceprotected set_parameter_value(const std::string &name, const T &value)modulo_controllers::BaseControllerInterfaceinlineprotected diff --git a/versions/main/classmodulo__controllers_1_1_controller_interface.html b/versions/main/classmodulo__controllers_1_1_controller_interface.html index e30f421e..d4d292c1 100644 --- a/versions/main/classmodulo__controllers_1_1_controller_interface.html +++ b/versions/main/classmodulo__controllers_1_1_controller_interface.html @@ -253,33 +253,6 @@ 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.
  -void add_tf_listener () - Configure a transform buffer and listener.
-  -state_representation::CartesianPose lookup_transform (const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration) - Look up a transform from TF.
-  -state_representation::CartesianPose lookup_transform (const std::string &frame, const std::string &reference_frame="world", double validity_period=-1.0, const tf2::Duration &duration=tf2::Duration(std::chrono::microseconds(10))) - Look up a transform from TF.
-  -void add_tf_broadcaster () - Configure a transform broadcaster.
-  -void add_static_tf_broadcaster () - Configure a static transform broadcaster.
-  -void send_transform (const state_representation::CartesianPose &transform) - Send a transform to TF.
-  -void send_transforms (const std::vector< state_representation::CartesianPose > &transforms) - Send a vector of transforms to TF.
-  -void send_static_transform (const state_representation::CartesianPose &transform) - Send a static transform to TF.
-  -void send_static_transforms (const std::vector< state_representation::CartesianPose > &transforms) - Send a vector of static transforms to TF.
-  rclcpp::QoS get_qos () const  Getter of the Quality of Service attribute.
  @@ -292,9 +265,6 @@ std::timed_mutex & get_command_mutex ()  Get the reference to the command mutex.
  -bool is_node_initialized () const - Check if the node has been initialized or not.
-  template<> void add_input (const std::string &name, const std::string &topic_name)   diff --git a/versions/main/classmodulo__controllers_1_1_robot_controller_interface-members.html b/versions/main/classmodulo__controllers_1_1_robot_controller_interface-members.html index 397a2d42..e37e659a 100644 --- a/versions/main/classmodulo__controllers_1_1_robot_controller_interface-members.html +++ b/versions/main/classmodulo__controllers_1_1_robot_controller_interface-members.html @@ -96,33 +96,27 @@ add_service(const std::string &service_name, const std::function< ControllerServiceResponse(void)> &callback)modulo_controllers::BaseControllerInterfaceprotected add_service(const std::string &service_name, const std::function< ControllerServiceResponse(const std::string &string)> &callback)modulo_controllers::BaseControllerInterfaceprotected add_state_interface(const std::string &name, const std::string &interface)modulo_controllers::ControllerInterfaceprotected - add_static_tf_broadcaster()modulo_controllers::BaseControllerInterfaceprotected - add_tf_broadcaster()modulo_controllers::BaseControllerInterfaceprotected - add_tf_listener()modulo_controllers::BaseControllerInterfaceprotected - add_trigger(const std::string &trigger_name)modulo_controllers::BaseControllerInterfaceprotected - BaseControllerInterface()modulo_controllers::BaseControllerInterface - command_interface_configuration() const finalmodulo_controllers::ControllerInterface - compute_cartesian_state()modulo_controllers::RobotControllerInterfaceprotected - ControllerInterface(bool claim_all_state_interfaces=false)modulo_controllers::ControllerInterface - evaluate(const rclcpp::Time &time, const std::chrono::nanoseconds &period)=0modulo_controllers::ControllerInterfaceprotectedpure virtual - ft_sensor_name_modulo_controllers::RobotControllerInterfaceprotected - ft_sensor_reference_frame_modulo_controllers::RobotControllerInterfaceprotected - get_cartesian_state()modulo_controllers::RobotControllerInterfaceprotected - get_command_interface(const std::string &name, const std::string &interface) constmodulo_controllers::ControllerInterfaceprotected - get_command_mutex()modulo_controllers::BaseControllerInterfaceprotected - get_ft_sensor()modulo_controllers::RobotControllerInterfaceprotected - get_joint_state()modulo_controllers::RobotControllerInterfaceprotected - get_parameter(const std::string &name) constmodulo_controllers::BaseControllerInterfaceprotected - get_parameter_value(const std::string &name) constmodulo_controllers::BaseControllerInterfaceinlineprotected - get_predicate(const std::string &predicate_name) constmodulo_controllers::BaseControllerInterfaceprotected - get_qos() constmodulo_controllers::BaseControllerInterfaceprotected - get_state_interface(const std::string &name, const std::string &interface) constmodulo_controllers::ControllerInterfaceprotected - get_state_interfaces(const std::string &name) constmodulo_controllers::ControllerInterfaceprotected - hardware_name_modulo_controllers::ControllerInterfaceprotected - is_active() constmodulo_controllers::BaseControllerInterfaceprotected - is_node_initialized() constmodulo_controllers::BaseControllerInterfaceprotected - lookup_transform(const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration)modulo_controllers::BaseControllerInterfaceprotected - lookup_transform(const std::string &frame, const std::string &reference_frame="world", double validity_period=-1.0, const tf2::Duration &duration=tf2::Duration(std::chrono::microseconds(10)))modulo_controllers::BaseControllerInterfaceprotected + add_trigger(const std::string &trigger_name)modulo_controllers::BaseControllerInterfaceprotected + BaseControllerInterface()modulo_controllers::BaseControllerInterface + command_interface_configuration() const finalmodulo_controllers::ControllerInterface + compute_cartesian_state()modulo_controllers::RobotControllerInterfaceprotected + ControllerInterface(bool claim_all_state_interfaces=false)modulo_controllers::ControllerInterface + evaluate(const rclcpp::Time &time, const std::chrono::nanoseconds &period)=0modulo_controllers::ControllerInterfaceprotectedpure virtual + ft_sensor_name_modulo_controllers::RobotControllerInterfaceprotected + ft_sensor_reference_frame_modulo_controllers::RobotControllerInterfaceprotected + get_cartesian_state()modulo_controllers::RobotControllerInterfaceprotected + get_command_interface(const std::string &name, const std::string &interface) constmodulo_controllers::ControllerInterfaceprotected + get_command_mutex()modulo_controllers::BaseControllerInterfaceprotected + get_ft_sensor()modulo_controllers::RobotControllerInterfaceprotected + get_joint_state()modulo_controllers::RobotControllerInterfaceprotected + get_parameter(const std::string &name) constmodulo_controllers::BaseControllerInterfaceprotected + get_parameter_value(const std::string &name) constmodulo_controllers::BaseControllerInterfaceinlineprotected + get_predicate(const std::string &predicate_name) constmodulo_controllers::BaseControllerInterfaceprotected + get_qos() constmodulo_controllers::BaseControllerInterfaceprotected + get_state_interface(const std::string &name, const std::string &interface) constmodulo_controllers::ControllerInterfaceprotected + get_state_interfaces(const std::string &name) constmodulo_controllers::ControllerInterfaceprotected + hardware_name_modulo_controllers::ControllerInterfaceprotected + is_active() constmodulo_controllers::BaseControllerInterfaceprotected on_activate() overridemodulo_controllers::RobotControllerInterfacevirtual modulo_controllers::ControllerInterface::on_activate(const rclcpp_lifecycle::State &previous_state) finalmodulo_controllers::ControllerInterface on_configure() overridemodulo_controllers::RobotControllerInterfacevirtual @@ -138,10 +132,6 @@ robot_modulo_controllers::RobotControllerInterfaceprotected RobotControllerInterface()modulo_controllers::RobotControllerInterface RobotControllerInterface(bool robot_model_required, const std::string &control_type="", bool load_geometries=false)modulo_controllers::RobotControllerInterfaceexplicit - send_static_transform(const state_representation::CartesianPose &transform)modulo_controllers::BaseControllerInterfaceprotected - send_static_transforms(const std::vector< state_representation::CartesianPose > &transforms)modulo_controllers::BaseControllerInterfaceprotected - send_transform(const state_representation::CartesianPose &transform)modulo_controllers::BaseControllerInterfaceprotected - send_transforms(const std::vector< state_representation::CartesianPose > &transforms)modulo_controllers::BaseControllerInterfaceprotected set_command_interface(const std::string &name, const std::string &interface, double value)modulo_controllers::ControllerInterfaceprotected set_input_validity_period(double input_validity_period)modulo_controllers::BaseControllerInterfaceprotected set_joint_command(const state_representation::JointState &joint_command)modulo_controllers::RobotControllerInterfaceprotected diff --git a/versions/main/classmodulo__controllers_1_1_robot_controller_interface.html b/versions/main/classmodulo__controllers_1_1_robot_controller_interface.html index 86524b3f..4cabc566 100644 --- a/versions/main/classmodulo__controllers_1_1_robot_controller_interface.html +++ b/versions/main/classmodulo__controllers_1_1_robot_controller_interface.html @@ -275,33 +275,6 @@ 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.
  -void add_tf_listener () - Configure a transform buffer and listener.
-  -state_representation::CartesianPose lookup_transform (const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration) - Look up a transform from TF.
-  -state_representation::CartesianPose lookup_transform (const std::string &frame, const std::string &reference_frame="world", double validity_period=-1.0, const tf2::Duration &duration=tf2::Duration(std::chrono::microseconds(10))) - Look up a transform from TF.
-  -void add_tf_broadcaster () - Configure a transform broadcaster.
-  -void add_static_tf_broadcaster () - Configure a static transform broadcaster.
-  -void send_transform (const state_representation::CartesianPose &transform) - Send a transform to TF.
-  -void send_transforms (const std::vector< state_representation::CartesianPose > &transforms) - Send a vector of transforms to TF.
-  -void send_static_transform (const state_representation::CartesianPose &transform) - Send a static transform to TF.
-  -void send_static_transforms (const std::vector< state_representation::CartesianPose > &transforms) - Send a vector of static transforms to TF.
-  rclcpp::QoS get_qos () const  Getter of the Quality of Service attribute.
  @@ -314,9 +287,6 @@ std::timed_mutex & get_command_mutex ()  Get the reference to the command mutex.
  -bool is_node_initialized () const - Check if the node has been initialized or not.
-  template<> void add_input (const std::string &name, const std::string &topic_name)   diff --git a/versions/main/functions.html b/versions/main/functions.html index b1404434..4e32ea60 100644 --- a/versions/main/functions.html +++ b/versions/main/functions.html @@ -77,14 +77,14 @@

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      • send_static_transform() : modulo_components::ComponentInterface, modulo_controllers::BaseControllerInterface
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      • send_static_transforms() : modulo_components::ComponentInterface, modulo_controllers::BaseControllerInterface
        • -
      • send_transform() : modulo_components::ComponentInterface, modulo_controllers::BaseControllerInterface
        • -
      • send_transforms() : modulo_components::ComponentInterface, modulo_controllers::BaseControllerInterface
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      • send_static_transform() : modulo_components::ComponentInterface
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      • send_static_transforms() : modulo_components::ComponentInterface
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      • send_transform() : modulo_components::ComponentInterface
        • +
      • send_transforms() : modulo_components::ComponentInterface
      • set_command_interface() : modulo_controllers::ControllerInterface
      • set_data() : modulo_core::communication::MessagePair< MsgT, DataT >
      • set_input_validity_period() : modulo_controllers::BaseControllerInterface
        • diff --git a/versions/main/functions_func.html b/versions/main/functions_func.html index 9c3478d8..529da8dc 100644 --- a/versions/main/functions_func.html +++ b/versions/main/functions_func.html @@ -77,14 +77,14 @@

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            • send_static_transform() : modulo_components::ComponentInterface, modulo_controllers::BaseControllerInterface
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            • send_static_transforms() : modulo_components::ComponentInterface, modulo_controllers::BaseControllerInterface
              • -
            • send_transform() : modulo_components::ComponentInterface, modulo_controllers::BaseControllerInterface
              • -
            • send_transforms() : modulo_components::ComponentInterface, modulo_controllers::BaseControllerInterface
              • +
            • send_static_transform() : modulo_components::ComponentInterface
              • +
            • send_static_transforms() : modulo_components::ComponentInterface
              • +
            • send_transform() : modulo_components::ComponentInterface
              • +
            • send_transforms() : modulo_components::ComponentInterface
            • set_command_interface() : modulo_controllers::ControllerInterface
            • set_data() : modulo_core::communication::MessagePair< MsgT, DataT >
            • set_input_validity_period() : modulo_controllers::BaseControllerInterface
              • diff --git a/versions/main/search/all_0.js b/versions/main/search/all_0.js index 92228e9e..c4639fb4 100644 --- a/versions/main/search/all_0.js +++ b/versions/main/search/all_0.js @@ -7,12 +7,12 @@ var searchData= ['add_5foutput_4',['add_output',['../classmodulo__components_1_1_component.html#ab475ee0e8ea1b1f52c6f0720a0546e90',1,'modulo_components::Component::add_output()'],['../classmodulo__components_1_1_lifecycle_component.html#a22d31bd5f8a713b0ce757bea8622cbf3',1,'modulo_components::LifecycleComponent::add_output()'],['../classmodulo__controllers_1_1_base_controller_interface.html#a7709be5a6f1d5e538ecf28d9d0253a8f',1,'modulo_controllers::BaseControllerInterface::add_output(const std::string &name, const std::string &topic_name="")']]], 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