rm_calibration_controllers::MechanicalCalibrationController Class Reference

#include <mechanical_calibration_controller.h>

Inheritance diagram for rm_calibration_controllers::MechanicalCalibrationController:

Collaboration diagram for rm_calibration_controllers::MechanicalCalibrationController:

Public Member Functions
	MechanicalCalibrationController ()=default
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
	Get necessary params from param server. Init joint_calibration_controller.
void	update (const ros::Time &time, const ros::Duration &period) override
	Execute corresponding action according to current calibration controller state.
Public Member Functions inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, hardware_interface::EffortJointInterface >
	CalibrationBase ()=default
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
	Get necessary params from param server. Init joint_calibration_controller.
void	starting (const ros::Time &time) override
	Switch all of the actuators state to INITIALIZED.
void	stopping (const ros::Time &time) override

Additional Inherited Members
Protected Types inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, hardware_interface::EffortJointInterface >
enum	State
Protected Member Functions inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, hardware_interface::EffortJointInterface >
bool	isCalibrated (control_msgs::QueryCalibrationState::Request &req, control_msgs::QueryCalibrationState::Response &resp)
	Provide a service to know the state of target actuators.
Protected Attributes inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, hardware_interface::EffortJointInterface >
ros::ServiceServer	is_calibrated_srv_
int	state_
double	velocity_search_
bool	calibration_success_
rm_control::ActuatorExtraHandle	actuator_
effort_controllers::JointVelocityController	velocity_ctrl_
effort_controllers::JointPositionController	position_ctrl_

Constructor & Destructor Documentation

MechanicalCalibrationController()

rm_calibration_controllers::MechanicalCalibrationController::MechanicalCalibrationController ( )

default

Member Function Documentation

init()

bool rm_calibration_controllers::MechanicalCalibrationController::init ( hardware_interface::RobotHW * robot_hw, ros::NodeHandle & root_nh, ros::NodeHandle & controller_nh )

override

Get necessary params from param server. Init joint_calibration_controller.

Get params from param server and check whether these params are set.Init JointVelocityController.Check whether threshold is set correctly.

Parameters

robot_hw	The robot hardware abstraction.
root_nh	A NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services).
controller_nh	A NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides.

Returns

True if init successful, false when failed.

update()

void rm_calibration_controllers::MechanicalCalibrationController::update ( const ros::Time & time, const ros::Duration & period )

override

Execute corresponding action according to current calibration controller state.

Execute corresponding action according to current joint state. If INITIALIZED, target joint will be set a vel_search_ and countdown_ to move, and switch state to MOVING. If MOVING, target joint will move until current velocity lower than threshold last for a while, and switch state to CALIBRATED. If CALIBRATED, target joint velocity will be set to zero and wait for next command.

Parameters

time	The current time.
period	The time passed since the last call to update.

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

• rm_calibration_controllers/include/rm_calibration_controllers/mechanical_calibration_controller.h
• rm_calibration_controllers/src/mechanical_calibration_controller.cpp