#include <sensor_interface.hpp>
Virtual Class to implement when integrating a stand-alone sensor into ros2_control. The typical examples are Force-Torque Sensor (FTS), Interial Measurement Unit (IMU).
◆ configure()
| virtual return_type hardware_interface::SensorInterface::configure |
( |
const HardwareInfo & |
sensor_info | ) |
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pure virtual |
Configuration of the sensor from data parsed from the robot's URDF.
- Parameters
-
| [in] | sensor_info | structure with data from URDF. |
- Returns
- return_type::OK if required data are provided and can be parsed, return_type::ERROR otherwise.
◆ export_state_interfaces()
| virtual std::vector<StateInterface> hardware_interface::SensorInterface::export_state_interfaces |
( |
| ) |
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pure virtual |
Exports all state interfaces for this sensor.
The state interfaces have to be created and transferred according to the sensor info passed in for the configuration.
Note the ownership over the state interfaces is transferred to the caller.
- Returns
- std::vector<StateInterface> vector of state interfaces
◆ get_name()
| virtual std::string hardware_interface::SensorInterface::get_name |
( |
| ) |
const |
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pure virtual |
Get name of the sensor hardware.
- Returns
- name.
◆ get_status()
| virtual status hardware_interface::SensorInterface::get_status |
( |
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const |
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pure virtual |
Get current state of the sensor hardware.
- Returns
- current status.
◆ read()
| virtual return_type hardware_interface::SensorInterface::read |
( |
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pure virtual |
Read the current state values from the sensor.
The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.
- Returns
- return_type::OK if the read was successful, return_type::ERROR otherwise.
◆ start()
| virtual return_type hardware_interface::SensorInterface::start |
( |
| ) |
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pure virtual |
Start exchange data with the hardware.
- Returns
- return_type:OK if everything worked as expected, return_type::ERROR otherwise.
◆ stop()
| virtual return_type hardware_interface::SensorInterface::stop |
( |
| ) |
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pure virtual |
Stop exchange data with the hardware.
- Returns
- return_type:OK if everything worked as expected, return_type::ERROR otherwise.
The documentation for this class was generated from the following file:
