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forward_command_controller.cpp
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forward_command_controller.cpp
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// Copyright 2020 PAL Robotics S.L.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "forward_command_controller/forward_command_controller.hpp"
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/logging.hpp"
namespace forward_command_controller
{
ForwardCommandController::ForwardCommandController() : ForwardControllersBase() {}
void ForwardCommandController::declare_parameters()
{
param_listener_ = std::make_shared<ParamListener>(get_node());
}
controller_interface::CallbackReturn ForwardCommandController::read_parameters()
{
if (!param_listener_)
{
RCLCPP_ERROR(get_node()->get_logger(), "Error encountered during init");
return controller_interface::CallbackReturn::ERROR;
}
params_ = param_listener_->get_params();
if (params_.joints.empty())
{
RCLCPP_ERROR(get_node()->get_logger(), "'joints' parameter was empty");
return controller_interface::CallbackReturn::ERROR;
}
if (params_.interface_name.empty())
{
RCLCPP_ERROR(get_node()->get_logger(), "'interface_name' parameter was empty");
return controller_interface::CallbackReturn::ERROR;
}
for (const auto & joint : params_.joints)
{
command_interface_types_.push_back(joint + "/" + params_.interface_name);
}
return controller_interface::CallbackReturn::SUCCESS;
}
} // namespace forward_command_controller
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(
forward_command_controller::ForwardCommandController, controller_interface::ControllerInterface)