Namespace ZO.ROS.MessageTypes.ControllerManager

Classes

ControllerStateMessage

Controller Manager message that lists all the resources which is usually just the joint names.

HardwareInterfaceResourcesMessage

ListControllersResponse

The ListControllers service returns a list of controller names/states/types of the controllers that are loaded inside the controller_manager. http://docs.ros.org/api/controller_manager_msgs/html/srv/ListControllers.html

ListControllerTypesServiceResponse

The ListControllers service returns a list of controller types that are known to the controller manager plugin mechanism.

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

LoadControllerServiceRequest

The LoadController service allows you to load a single controller inside controller_manager

To load a controller, specify the "name" of the controller. The return value "ok" indicates if the controller was successfully constructed and initialized or not. http://docs.ros.org/api/controller_manager_msgs/html/srv/LoadController.html

LoadControllerServiceResponse

The LoadController service allows you to load a single controller inside controller_manager

To load a controller, specify the "name" of the controller. The return value "ok" indicates if the controller was successfully constructed and initialized or not. http://docs.ros.org/api/controller_manager_msgs/html/srv/LoadController.html

ReloadControllerLibrariesServiceRequest

The ReloadControllerLibraries service will reload all controllers that are available in the system as plugins

Reloading libraries only works if there are no controllers loaded. If there are still some controllers loaded, the reloading will fail. If this bool is set to true, all loaded controllers will get killed automatically, and the reloading can succeed. http://docs.ros.org/api/controller_manager_msgs/html/srv/ReloadControllerLibraries.html

ReloadControllerLibrariesServiceResponse

The ReloadControllerLibraries service will reload all controllers that are available in the system as plugins

Reloading libraries only works if there are no controllers loaded. If there are still some controllers loaded, the reloading will fail. If this bool is set to true, all loaded controllers will get killed automatically, and the reloading can succeed. http://docs.ros.org/api/controller_manager_msgs/html/srv/ReloadControllerLibraries.html

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

SwitchControllerServiceResponse

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

UnloadControllerServiceRequest

The UnloadController service allows you to unload a single controller from controller_manager

To unload a controller, specify the "name" of the controller. The return value "ok" indicates if the controller was successfully unloaded or not http://docs.ros.org/api/controller_manager_msgs/html/srv/UnloadController.html

UnloadControllerServiceResponse

The UnloadController service allows you to unload a single controller from controller_manager

To unload a controller, specify the "name" of the controller. The return value "ok" indicates if the controller was successfully unloaded or not http://docs.ros.org/api/controller_manager_msgs/html/srv/UnloadController.html