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motor_controller.orogen
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motor_controller.orogen
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# frozen_string_literal: true
name 'motor_controller'
version '0.1'
import_types_from 'base'
using_library 'motor_controller'
import_types_from 'motor_controllerTypes.hpp'
import_types_from 'motor_controller/PID.hpp'
# A generic task that applies PID controllers over JointState data
task_context 'PIDTask' do
# This is the default from now on, and should not be removed. Rock will
# transition to a setup where all components use a configuration step.
needs_configuration
# The configuration for each of the actuator controllers
property('settings', 'std/vector<motor_controller/ActuatorSettings>')
.dynamic
# The feedback from the actuators
#
# It is expected to contain as many actuator information as there are
# elements in the settings property
input_port 'status_samples', '/base/samples/Joints'
# The setpoints
#
# It is expected to contain as many actuator information as there are
# elements in the settings property
input_port 'in_command', 'base/commands/Joints'
# The output command
#
# It will contain as many commands as there are elements in the settings
# property (and therefore in 'targets' and 'status_samples')
#
# The joint names are set from the values in in_command (NOT in
# status_samples)
output_port 'out_command', 'base/commands/Joints'
# The internal state of the PID controllers
output_port 'pid_states', 'std/vector<motor_controller/PIDState>'
exception_states :WRONG_INPUT_COMMAND_SIZE
exception_states :WRONG_STATUS_SIZE
exception_states :INVALID_INPUT_COMMAND
exception_states :INVALID_STATUS_SAMPLE
port_driven :status_samples
end