Package Summary

Tags No category tags.
Version 0.11.0
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2016-05-25
Dev Status MAINTAINED
Released RELEASED

Package Description

Hardware Interface base class.

Additional Links

Maintainers

  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Wim Meeussen
  • Adolfo Rodriguez Tsouroukdissian
README
No README found. See repository README.
CHANGELOG

Changelog for package hardware_interface

0.11.0 (2016-05-23)

  • Allow the InterfaceManager class to register other InterfaceManagers. This will make it possible to combine several RobotHW objects into a single one.
  • Contributors: Toni Oliver

0.10.1 (2016-04-23)

  • Fix rosconsole errors from test build
  • Contributors: Bence Magyar

0.10.0 (2015-11-20)

  • Fix doSwitch execution point The doSwitch method needs to be executed in the update() method, that is, in the real-time path, which is where controller switching actually takes place. It was previously done in the switchController callback, which is non real-time.
  • Introduce prepareSwitch, replacement of canSwitch
  • Add InterfaceManager::getNames Add new method that allows to query the names of all interfaces managed by an InterfaceManager instance.
  • Multi-interface controllers

    • C++ API break.
    • Modify ControllerInfo class to allow controllers to claim resources from multiple hardware interfaces.
    • Propagate changes to RobotHW::checkForConflict: Default resource ownsership policy is aware of controllers claiming resources from multiple hardware interfaces.
    • Update and extend the corresponding test suite.
  • Address -Wunused-parameter warnings

  • Contributors: Adolfo Rodriguez Tsouroukdissian, Mathias L

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version jade-devel
Last Updated 2016-05-25
Dev Status MAINTAINED
Released RELEASED

Package Description

Hardware Interface base class.

Additional Links

Maintainers

  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Wim Meeussen
  • Adolfo Rodriguez Tsouroukdissian
README
No README found. See repository README.
CHANGELOG

Changelog for package hardware_interface

0.10.0 (2015-11-20)

  • Fix doSwitch execution point The doSwitch method needs to be executed in the update() method, that is, in the real-time path, which is where controller switching actually takes place. It was previously done in the switchController callback, which is non real-time.
  • Introduce prepareSwitch, replacement of canSwitch
  • Add InterfaceManager::getNames Add new method that allows to query the names of all interfaces managed by an InterfaceManager instance.
  • Multi-interface controllers

    • C++ API break.
    • Modify ControllerInfo class to allow controllers to claim resources from multiple hardware interfaces.
    • Propagate changes to RobotHW::checkForConflict: Default resource ownsership policy is aware of controllers claiming resources from multiple hardware interfaces.
    • Update and extend the corresponding test suite.
  • Address -Wunused-parameter warnings

  • Contributors: Adolfo Rodriguez Tsouroukdissian, Mathias L

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Package Summary

Tags No category tags.
Version 0.9.4
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version indigo-devel
Last Updated 2016-02-12
Dev Status MAINTAINED
Released RELEASED

Package Description

Hardware Interface base class.

Additional Links

Maintainers

  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Wim Meeussen
  • Adolfo Rodriguez Tsouroukdissian
README
No README found. See repository README.
CHANGELOG

Changelog for package hardware_interface

0.9.4 (2016-02-12)

  • Fix doSwitch execution point The doSwitch method needs to be executed in the update() method, that is, in the real-time path, which is where controller switching actually takes place. It was previously done in the switchController callback, which is non real-time. In this method controller switching is scheduled, but not actually executed. This changeset fixes a bug in which hardware interface modes could switch before controllers, leading to undefined behavior.
  • Introduce prepareSwitch, replacement of canSwitch RobotHW::prepareSwitch is intended as a substitute for RobotHW::canSwitch. The main reasons for the change are a non-const signature to allow changing state and a more descriptive name. RobotHW::canSwitch will be deprecated in a later ROS distro.
  • Address -Wunused-parameter warnings
  • Contributors: Adolfo Rodriguez Tsouroukdissian, Mathias L

Wiki Tutorials

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Source Tutorials

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Package Dependencies

Deps Name
1 roscpp

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
hector_quadrotor_controller github-tu-darmstadt-ros-pkg-hector_quadrotor
pr2_mechanism_model github-PR2-pr2_mechanism
pr2_mechanism_model github-pr2-pr2_mechanism
gazebo_ros_control github-ros-simulation-gazebo_ros_pkgs
husky_base github-husky-husky_base
husky_base github-husky-husky_robot
pmb2_hardware_gazebo github-pal-robotics-pmb2_simulation
reemc_hardware_gazebo github-pal-robotics-reemc_simulation
romeo_dcm_driver github-ros-aldebaran-romeo_robot
controller_interface github-ros-controls-ros_control
controller_manager github-ros-controls-ros_control
joint_limits_interface github-ros-controls-ros_control
ros_control github-ros-controls-ros_control
transmission_interface github-ros-controls-ros_control
force_torque_sensor_controller github-ros-controls-ros_controllers
forward_command_controller github-ros-controls-ros_controllers
gripper_action_controller github-ros-controls-ros_controllers
imu_sensor_controller github-ros-controls-ros_controllers
joint_state_controller github-ros-controls-ros_controllers
joint_trajectory_controller github-ros-controls-ros_controllers
ros_ethercat_hardware github-shadow-robot-ros_ethercat
ros_ethercat_model github-shadow-robot-ros_ethercat
ubiquity_motor github-UbiquityRobotics-ubiquity_motor
cob_omni_drive_controller github-ipa320-cob_control
cob_gazebo_ros_control github-ipa320-cob_gazebo_plugins
epos_hardware github-RIVeR-Lab-epos_hardware
icart_mini_driver github-open-rdc-icart_mini
icart_mini_gazebo github-open-rdc-icart_mini
jackal_base github-jackal-jackal_robot
kuka_rsi_hw_interface github-ros-industrial-kuka_experimental
mrp2_hardware github-milvusrobotics-mrp2_robot
mrp2_hardware_gazebo github-milvusrobotics-mrp2_simulator
ridgeback_base github-ridgeback-ridgeback_robot
robotican_controllers github-robotican-robotican
robotican_h_manipulator github-robotican-robotican
canopen_motor_node github-ros-industrial-ros_canopen
ros_control_boilerplate github-davetcoleman-ros_control_boilerplate
schunk_canopen_driver github-fzi-forschungszentrum-informatik-schunk_canopen_driver
tiago_hardware_gazebo github-pal-robotics-tiago_simulation
ur_modern_driver github-TheDash-ur_modern_driver
wpi_jaco_wrapper github-RIVeR-Lab-wpi_jaco

Launch files

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Plugins

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Package Summary

Tags No category tags.
Version 0.7.3
License BSD
Buildtool CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version hydro-devel
Last Updated 2014-10-28
Dev Status MAINTAINED
Released RELEASED

Package Description

Hardware Interface base class.

Additional Links

Maintainers

  • Wim Meeussen
  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Wim Meeussen
  • Adolfo Rodriguez Tsouroukdissian
README
No README found. See repository README.
CHANGELOG

Changelog for package hardware_interface

0.7.3 (2014-10-28)

0.7.2 (2014-04-01)

0.7.1 (2014-03-31)

0.7.0 (2014-03-28)

  • Add ResourceHandle typedef
  • add name to anonymous objects to avoid cppcheck error
  • Contributors: Daniel Pinyol, Igorec

0.6.0 (2014-02-05)

  • Update interface_manager.h Trivial doc fix
  • Add raw data accessors to actuators interface. Write access to the raw actuator data will be needed for automatic transmission loading.
  • Fix doc typo.
  • Migrate RobotHW class to use InterfaceManager.
  • Factor out interface management parts of RobotHW.

    • Interface management is needed in the transmission_interface package as well.
    • Add new InterfaceManager internal class, with tests.
    • RobotHW remains untouched.
  • Contributors: Adolfo Rodriguez Tsouroukdissian

0.5.8 (2013-10-11)

  • Renamed manifest.xml to prevent conflicts with rosdep
  • Move from postfix to prefix increment in loops. Detected by cppcheck 'postfixOperator' warning.
  • CMakeLists fix to fit with OpenEmbedded/Yocto meta-ros layer. Increase the compatibility of the ros_control code with meta-ros, an OpenEmbedded/Yocto layer that provides recipes for ROS packages disabling catking checking the variable CATKIN_ENABLE_TESTING.

0.5.7 (2013-07-30)

  • Updated changelogs
  • Author/maintainer list update.

0.5.6 (2013-07-29)

0.5.5 (2013-07-23)

0.5.4 (2013-07-23)

0.5.3 (2013-07-22)

0.5.2 (2013-07-22)

0.5.1 (2013-07-19)

  • Typo fix

0.5.0 (2013-07-16)

  • Add meta tags to packages not specifying them.
    • Website, bugtracker, repository.
  • Merged hydro-devel into master
  • Fix compiler warnings (-Wreorder)
  • Remove unused headers.
  • Unit test sensor interfaces.
  • Add default constructors to sensor handles.
  • Tests build.
  • Reneamed Github repo in documentation to ros-controls
  • Add missing brace.
  • Update sensor interfaces implementation.

    • Use resource managing classes introduced in recent hardware interface rework.
    • Conform to unified public API.
  • Remove Eigen dependency from hardware_interface.

    • Expose force-torque and IMU sensor data as const pointers to the raw data.
    • Client code should wrap raw data however they prefer.
  • Explicitly initialize IMU sensor handle members.

  • Scrape orientation interface prototype.

  • Add sensor ref frame field and capability queries.

  • Add sensor reference frame field.

  • First draft of sensor interfaces.

    • Force/torque (wrench)
    • Orientation
    • IMU (very crude approximation)

0.4.0 (2013-06-25)

  • Version 0.4.0
  • 1.0.1
  • Add another convenience symbol demangling method. We already had: string foo_name = demangledTypeName<FooType>(); which works great for typenames, but we were missing the equivalent for specific instances: FooType foo; string foo_name = demangledTypeName(foo); ...which works well for polymorphic types, returning the derived-most name.
  • Fix duplicate header guard.
  • Fix package URL in package.xml
  • Fix compiler warning (-Wreorder).
  • Restore documentation of handle parameters. Documentation that was previously in the interface classes before the hardware interface rework has been moved to the handle classes.
  • Fix ResourceManager exception messages.
    • Print derived class name instead of the less descriptive and more cryptic base class name. Eg. "hardware_interface::JointCommandInterface" instead of "hardware_interface::ResourceManager<hardware_interface::JointStateHandle>"
  • Trivial doc/whitespace fix.
  • Merge branch 'master' into hardware_interface_rework Conflicts: hardware_interface/CMakeLists.txt
  • Separate resource manager in two classes.

    • Refs #45.
    • HardwareInterface specifics (ie. resource claiming) has been factored out. We now have the non-polymorphic ResourceManager class for registering and getting handles, and the polymorphic HardwareResourceManager that additionally implements the HardwareInterface and takes care of resource claiming.
    • The above change is required if the transmission interface is to leverage the resource management code, but without the hardware interface specifics.
    • Move files back to the internal folder. They are building blocks of the public API of hardware interfaces, but should not be directly #included by end users, so it's best they don't share the same location as user-facing headers.
    • Update unit tests.
  • Add missing include statement.

  • Validate raw data wrapped by hardware interfaces.

    • Refs #47 and #52.
    • Initialize raw data pointers to 0 in default handle constructors, otherwise they evaluate to nonzero and there is no way to distinguish an uninitialized state (ie. dangling pointers) from a properly initialized one.
    • For non-empty handle constructors, validate input raw data, throw if invalid pointers are found.
    • Add assertions on handle accessors. Invalid reads will trigger the assertions instead of causing a segfault (in debug mode).
    • Update unit tests.
  • Warn when replacing a handle/interface. It is legitimate to change the underlying data associated to a handle/interface name, but it might also be a common programming error. Having the logs reflect this situation would allow to spot it easily.

  • Make error message more explicit in test. Output with ROS_ERROR_STREAM instead of std::cout

  • Add RobotHW class test.

  • Add virtual destructor, protected internals.

    • ResourceManager inherits from HardwareInterface, which has virtual methods, so a virtual destructor is required.
    • Internal members are protected instead of private.
  • Unit test hardware_interfaces.

  • More uniform hardware_interface API. Refs #45.

  • adding install targets

  • Restore joint resource claiming!. It had been mistakenly removed in a previous commit.

  • merging CMakeLists.txt files from rosbuild and catkin

  • adding hybrid-buildsystem makefiles

  • Fix package URLs.

  • Fix exception throwing.

  • Harmonize how variables are quoted in logs.

    • Unify to using 'single quotes'.
    • Fixes #42.
  • Merge branch 'master' of https://github.com/willowgarage/ros_control Conflicts: hardware_interface/include/hardware_interface/joint_command_interface.h

  • Add explicit actuator hardware interfaces.

    • These classes are similar to the existing joint equivalents, and are useful in setups leveraging the transmission_interface.
  • Refactor named resource management code.

    • In preparation for the explicitly typed actuators interface, code for managing named resources has been refactored into a separate class. This code consists of convenience methods wrapping a std::map container, and occur often enough that factoring it out to prevent duplication makes sense.
    • Code that is not part of the public API, and hence with no stability guarantees has been moved to the internal folder/namespace. It only affects the named resource management and symbol demanglind methods so far.
  • catkinizing, could still be cleaned up

  • add accessor for command

  • Remove redundant semicolons.

  • Use demangled type names when available. Fixes #36. Type names are used in different interfaces such as hardware_interface and controller_interface. When symbol demangling is available (currently gcc 3.0+), operate on demangled names, as they are more convenient for human reading, eg. hardware_interface::VelocityJointInterface instead of N18hardware_interface22VelocityJointInterfaceE

  • Fix typo in rosdoc config files.

  • Fixing error message in JointCommandInterface

  • More documentation in hardware_interface

  • Adding template parameter doc

  • Changing @ commands to commands

  • Adding lots of inline documentation, rosdoc files adding inline doc to robot_hw adding inline doc to robot_hw adding inline doc to robot_hw more doc more documentation more doc more doc more doc more doc formatting adding more doc groups in controller manager adding more doc groups in controller manager Adding doc for controllerspec adding hardware interface docs adding doc to joint interfaces adding rosdoc for controller_interface Adding / reformatting doc for controller interface

  • Add missing explicit header dependency. Don't get required header transitively, but explicitly.

  • Add mising roscpp dependency.

  • cleanup

  • move realtime tools in ros control, and create empty constructors for handles

  • Doing resource conflict check on switchControllers call

  • Adding in resource/claim infrastructure

  • Refactoring joint command interfaces. Also added getJointNames()

  • Switching to owned interfaces, instead of multiple virtual inheritance

  • Changing interface names

  • joint interfaces now throw on null joint value ptrs

  • JointState is now JointMeasurement, to prevent naming collisions with pr2_mechanism

  • Fixing copyright header text

  • Joint interfaces now operate on pointers, instead of refs

  • Tweaking inheritance to be virtual so it compiles. dummy app with controller manager compiles

  • started controller_manager_tests. untested

  • all pkgs now ported to fuerte

  • hardware interface ported to fuerte

  • more renaming

  • new naming scheme

  • running controller with casting. Pluginlib still messed up

  • add macro

  • running version, with latest pluginlib

  • compiling version

  • untested stuff, debians are screwed up

  • compiling version

  • first catkin stuff

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

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Messages

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Services

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Package Summary

Tags No category tags.
Version UNKNOWN
License BSD
Buildtool ROSBUILD
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version groovy-devel
Last Updated 2013-02-01
Dev Status MAINTAINED
Released UNRELEASED

Package Description

Hardware Interaface base class.

Additional Links

Maintainers

No known maintainers.

Authors

  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Package Summary

Tags No category tags.
Version UNKNOWN
License BSD
Buildtool ROSBUILD
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-controls/ros_control.git
VCS Type git
VCS Version fuerte-devel
Last Updated 2013-02-04
Dev Status MAINTAINED
Released UNRELEASED

Package Description

Hardware Interaface base class.

Additional Links

Maintainers

No known maintainers.

Authors

  • Wim Meeussen
README
No README found. No README in repository either.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

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