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