Class SwitchControllerServiceRequest

The SwitchController service allows you stop a number of controllers and start a number of controllers, all in one single timestep of the controller_manager control loop.

To switch controllers, specify

  • the list of controller names to start,
  • the list of controller names to stop, and
  • the strictness (BEST_EFFORT or STRICT)
  • STRICT means that switching will fail if anything goes wrong (an invalid controller name, a controller that failed to start, etc. )
  • BEST_EFFORT means that even when something goes wrong with on controller, the service will still try to start/stop the remaining controllers
  • start the controllers as soon as their hardware dependencies are ready, will wait for all interfaces to be ready otherwise
  • the timeout in seconds before aborting pending controllers. Zero for infinite

The return value "ok" indicates if the controllers were switched successfully or not. The meaning of success depends on the specified strictness.

http://docs.ros.org/api/controller_manager_msgs/html/srv/SwitchController.html

Inheritance
System.Object
SwitchControllerServiceRequest
Inherited Members
System.Object.Equals(System.Object)
System.Object.Equals(System.Object, System.Object)
System.Object.GetHashCode()
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
System.Object.ToString()
Namespace: ZO.ROS.MessageTypes.ControllerManager
Assembly: Unity.ZeroSim.dll
Syntax
public class SwitchControllerServiceRequest : ZOROSMessageInterface

Constructors

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SwitchControllerServiceRequest()

Declaration
public SwitchControllerServiceRequest()
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SwitchControllerServiceRequest(String[], String[], Int32, Boolean, Double)

Declaration
public SwitchControllerServiceRequest(string[] start_controllers, string[] stop_controllers, int strictness, bool start_asap, double timeout)
Parameters
Type Name Description
System.String[] start_controllers
System.String[] stop_controllers
System.Int32 strictness
System.Boolean start_asap
System.Double timeout

Fields

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BEST_EFFORT

Declaration
public const int BEST_EFFORT = 1
Field Value
Type Description
System.Int32
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STRICT

Declaration
public const int STRICT = 2
Field Value
Type Description
System.Int32
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Type

Declaration
[JsonIgnore]
public static string Type
Field Value
Type Description
System.String

Properties

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MessageType

Declaration
[JsonIgnore]
public string MessageType { get; }
Property Value
Type Description
System.String
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start_asap

Declaration
public bool start_asap { get; set; }
Property Value
Type Description
System.Boolean
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start_controllers

Declaration
public string[] start_controllers { get; set; }
Property Value
Type Description
System.String[]
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stop_controllers

Declaration
public string[] stop_controllers { get; set; }
Property Value
Type Description
System.String[]
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strictness

Declaration
public int strictness { get; set; }
Property Value
Type Description
System.Int32
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timeout

Declaration
public double timeout { get; set; }
Property Value
Type Description
System.Double

Implements