Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

GenericSystem: Add missing calculate_dynamics to docs #1498

Merged
merged 1 commit into from
Apr 29, 2024
Merged

GenericSystem: Add missing calculate_dynamics to docs #1498

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
67 changes: 57 additions & 10 deletions hardware_interface/doc/mock_components_userdoc.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,27 +28,74 @@ Features:
Parameters
,,,,,,,,,,

A full example including all optional parameters (with default values):

.. code-block:: xml

<ros2_control name="MockHardwareSystem" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="calculate_dynamics">false</param>
<param name="custom_interface_with_following_offset"></param>
<param name="disable_commands">false</param>
<param name="mock_gpio_commands">false</param>
<param name="mock_sensor_commands">false</param>
<param name="position_state_following_offset">0.0</param>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">3.45</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="joint2">
<command_interface name="velocity"/>
<command_interface name="acceleration"/>
<state_interface name="position">
<param name="initial_value">2.78</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<gpio name="flange_vacuum">
<command_interface name="vacuum"/>
<state_interface name="vacuum" data_type="double"/>
</gpio>
</ros2_control>

See :ref:`example_2 <ros2_control_demos_example_2_userdoc>` for an example using ``calculate_dynamics`` or :ref:`example_10 <ros2_control_demos_example_10_userdoc>` for using in combination with GPIO interfaces.

Component Parameters
####################

calculate_dynamics (optional; boolean; default: false)
Calculation of states from commands by using Euler-forward integration or finite differences.

custom_interface_with_following_offset (optional; string; default: "")
Mapping of offsetted commands to a custom interface.

disable_commands (optional; boolean; default: false)
Disables mirroring commands to states.
This option is helpful to simulate an erroneous connection to the hardware when nothing breaks, but suddenly there is no feedback from a hardware interface.
Or it can help you to test your setup when the hardware is running without feedback, i.e., in open loop configuration.

mock_sensor_commands (optional; boolean; default: false)
Creates fake command interfaces for faking sensor measurements with an external command.
Those interfaces are usually used by a :ref:`forward controller <forward_command_controller_userdoc>` to provide access from ROS-world.

mock_gpio_commands (optional; boolean; default: false)
Creates fake command interfaces for faking GPIO states with an external command.
Those interfaces are usually used by a :ref:`forward controller <forward_command_controller_userdoc>` to provide access from ROS-world.

position_state_following_offset (optional; double; default: 0.0)
Following offset added to the commanded values when mirrored to states.
mock_sensor_commands (optional; boolean; default: false)
Creates fake command interfaces for faking sensor measurements with an external command.
Those interfaces are usually used by a :ref:`forward controller <forward_command_controller_userdoc>` to provide access from ROS-world.

custom_interface_with_following_offset (optional; string; default: "")
Mapping of offsetted commands to a custom interface.
position_state_following_offset (optional; double; default: 0.0)
Following offset added to the commanded values when mirrored to states. Only applied, if ``custom_interface_with_following_offset`` is false.

Per-interface Parameters
,,,,,,,,,,,,,,,,,,,,,,,,
Per-Interface Parameters
########################

initial_value (optional; double)
Initial value of certain state interface directly after startup. Example:
Expand Down
Loading