Class Simulator

Inheritance Relationships

Base Type

  • public hardware_interface::SystemInterface

Class Documentation

class Simulator : public hardware_interface::SystemInterface

A MuJoCo-based, standalone simulator for the SCHUNK SVH and ROS2-control.

This class provides a simulated robot for controller development and testing. It’s instantiated via the usual ROS2-conform lifecylce as a controller_manager coordinated library.

Public Types

using return_type = hardware_interface::return_type
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Public Functions

virtual CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override
virtual std::vector<hardware_interface::StateInterface> export_state_interfaces() override
virtual std::vector<hardware_interface::CommandInterface> export_command_interfaces() override
virtual return_type prepare_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override
virtual return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override
virtual return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override