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migrate to ros2_control humble API #24

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da732e6
migrate to ros2_control humble API
andreasBihlmaier Apr 1, 2023
be887c4
clang-format
andreasBihlmaier Apr 14, 2023
17f1299
fix joint values being mapped incorrectly due to overwriting a map th…
andreasBihlmaier Apr 15, 2023
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2 changes: 2 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ check_minimal_cxx_standard(11 ENFORCE)
cmake_policy(SET CMP0057 NEW)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(odri_control_interface REQUIRED)
find_package(controller_interface REQUIRED)
Expand Down Expand Up @@ -99,6 +100,7 @@ ament_target_dependencies(
hardware_interface
pluginlib
rclcpp
rclcpp_lifecycle
)

target_include_directories(
Expand Down
34 changes: 18 additions & 16 deletions include/system_odri.hpp
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Expand Up @@ -23,22 +23,20 @@
#include <string>
#include <vector>

#include "hardware_interface/base_interface.hpp"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "hardware_interface/types/hardware_interface_status_values.hpp"
#include "master_board_sdk/master_board_interface.h"
#include "odri_control_interface/imu.hpp"
#include "odri_control_interface/robot.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "semantic_components/imu_sensor.hpp"
#include "system_interface_odri.hpp"
#include "visibility_control.h"

using hardware_interface::return_type;

#define rt_printf printf

/**
Expand Down Expand Up @@ -73,13 +71,12 @@ typedef Matrix<long, 4, 1> Vector4l;

namespace ros2_control_odri {

class SystemOdriHardware : public hardware_interface::BaseInterface<
hardware_interface::SystemInterface> {
class SystemOdriHardware : public hardware_interface::SystemInterface {
public:
RCLCPP_SHARED_PTR_DEFINITIONS(SystemOdriHardware)

ROS2_CONTROL_ODRI_PUBLIC
hardware_interface::return_type configure(
hardware_interface::CallbackReturn on_init(
const hardware_interface::HardwareInfo &system_info) override;

ROS2_CONTROL_ODRI_PUBLIC
Expand All @@ -91,27 +88,31 @@ class SystemOdriHardware : public hardware_interface::BaseInterface<
override;

ROS2_CONTROL_ODRI_PUBLIC
return_type prepare_command_mode_switch(
hardware_interface::return_type prepare_command_mode_switch(
const std::vector<std::string> &start_interfaces,
const std::vector<std::string> &stop_interfaces) override;

ROS2_CONTROL_ODRI_PUBLIC
return_type calibration();
hardware_interface::return_type calibration();

ROS2_CONTROL_ODRI_PUBLIC
return_type start() override;
hardware_interface::CallbackReturn on_activate(
const rclcpp_lifecycle::State &previous_state) override;

ROS2_CONTROL_ODRI_PUBLIC
return_type stop() override;
hardware_interface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State &previous_state) override;

ROS2_CONTROL_ODRI_PUBLIC
return_type read() override;
hardware_interface::return_type read(const rclcpp::Time &time,
const rclcpp::Duration &period) override;

ROS2_CONTROL_ODRI_PUBLIC
return_type write() override;
hardware_interface::return_type write(
const rclcpp::Time &time, const rclcpp::Duration &period) override;

ROS2_CONTROL_ODRI_PUBLIC
return_type display();
hardware_interface::return_type display();

private:
// Parameters for the RRBot simulation
Expand All @@ -123,10 +124,11 @@ class SystemOdriHardware : public hardware_interface::BaseInterface<
void display_robot_state();

// Read desired starting position.
return_type read_desired_starting_position();
hardware_interface::return_type read_desired_starting_position();

// Read default joint cmd and state values
return_type read_default_cmd_state_value(std::string &default_joint_cs);
hardware_interface::return_type read_default_cmd_state_value(
std::string &default_joint_cs);

// Read default cmd or state value.
// default_joint_cs: "default_joint_cmd" or "default_joint_state"
Expand Down
1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -37,6 +37,7 @@
<depend>hardware_interface</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<depend>odri_control_interface</depend>
<depend>controller_interface</depend>

Expand Down
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