controller_manager_msgs¶

Message types¶

• controller_manager_msgs/ControllerStatistics
• controller_manager_msgs/ControllerState
• controller_manager_msgs/ControllersStatistics

controller_manager_msgs/ControllerStatistics¶

Field:	name (string) – type (string) – timestamp (time) – running (bool) – max_time (duration) – mean_time (duration) – variance_time (duration) – num_control_loop_overruns (int32) – time_last_control_loop_overrun (time) –

This message contains the state of one realtime controller that was spawned in the controller manager

the name of the controller

# This message contains the state of one realtime controller
# that was spawned in the controller manager

# the name of the controller
string name

# the type of the controller
string type

# the time at which these controller statistics were measured
time timestamp

# bool that indicates if the controller is currently
# in a running or a stopped state
bool running

# the maximum time the update loop of the controller ever needed to complete
duration max_time

# the average time the update loop of the controller needs to complete.
# the average is computed in a sliding time window.
duration mean_time

# the variance on the time the update loop of the controller needs to complete.
# the variance applies to a sliding time window.
duration variance_time

# the number of times this controller broke the realtime loop
int32 num_control_loop_overruns

# the timestamp of the last time this controller broke the realtime loop
time time_last_control_loop_overrun

controller_manager_msgs/ControllerState¶

Field:	name (string) – state (string) – type (string) – hardware_interface (string) – resources[] (string) –

string name
string state
string type
string hardware_interface
string[] resources

controller_manager_msgs/ControllersStatistics¶

Field:	header (std_msgs/Header) – controller[] (controller_manager_msgs/ControllerStatistics) –

std_msgs/Header header
controller_manager_msgs/ControllerStatistics[] controller

Service types¶

• controller_manager_msgs/LoadController
• controller_manager_msgs/ListControllers
• controller_manager_msgs/SwitchController
• controller_manager_msgs/UnloadController
• controller_manager_msgs/ReloadControllerLibraries
• controller_manager_msgs/ListControllerTypes

controller_manager_msgs/LoadController¶

Field (Request):
	name (string) –
Field (Response):
	ok (bool) –

The LoadController service allows you to load a single controller inside controller_manager

To load a controller, specify the “name” of the controller. The return value “ok” indicates if the controller was successfully constructed and initialized or not.

# The LoadController service allows you to load a single controller 
# inside controller_manager

# To load a controller, specify the "name" of the controller. 
# The return value "ok" indicates if the controller was successfully
# constructed and initialized or not.

string name
---
bool ok

controller_manager_msgs/ListControllers¶

Field (Response):
	controller[] (controller_manager_msgs/ControllerState) –

The ListControllers service returns a list of controller names/states/types of the controllers that are loaded inside the controller_manager.

# The ListControllers service returns a list of controller names/states/types of the
# controllers that are loaded inside the controller_manager.

---
ControllerState[] controller

controller_manager_msgs/SwitchController¶

Field (Request):
	start_controllers[] (string) – stop_controllers[] (string) – strictness (int32) –
Constant (Request):
	BEST_EFFORT (int32):1 – STRICT (int32):2 –
Field (Response):
	ok (bool) –

The SwitchController service allows you stop a number of controllers and start a number of controllers, all in one single timestep of the controller_manager control loop.

To switch controllers, specify

• the list of controller names to start,

• the list of controller names to stop, and

• the strictness (BEST_EFFORT or STRICT) * STRICT means that switching will fail if anything goes wrong (an invalid

  controller name, a controller that failed to start, etc. )

  • BEST_EFFORT means that even when something goes wrong with on controller, the service will still try to start/stop the remaining controllers

The return value “ok” indicates if the controllers were switched successfully or not. The meaning of success depends on the specified strictness.

# The SwitchController service allows you stop a number of controllers
# and start a number of controllers, all in one single timestep of the
# controller_manager control loop. 

# To switch controllers, specify 
#  * the list of controller names to start,
#  * the list of controller names to stop, and
#  * the strictness (BEST_EFFORT or STRICT)
#    * STRICT means that switching will fail if anything goes wrong (an invalid
#      controller name, a controller that failed to start, etc. )
#    * BEST_EFFORT means that even when something goes wrong with on controller, 
#      the service will still try to start/stop the remaining controllers

# The return value "ok" indicates if the controllers were switched
# successfully or not.  The meaning of success depends on the 
# specified strictness.


string[] start_controllers
string[] stop_controllers
int32 strictness
int32 BEST_EFFORT=1
int32 STRICT=2
---
bool ok

controller_manager_msgs/UnloadController¶

Field (Request):
	name (string) –
Field (Response):
	ok (bool) –

The UnloadController service allows you to unload a single controller from controller_manager

To unload a controller, specify the “name” of the controller. The return value “ok” indicates if the controller was successfully unloaded or not

# The UnloadController service allows you to unload a single controller 
# from controller_manager

# To unload a controller, specify the "name" of the controller. 
# The return value "ok" indicates if the controller was successfully
# unloaded or not

string name
---
bool ok

controller_manager_msgs/ReloadControllerLibraries¶

Field (Request):
	force_kill (bool) –
Field (Response):
	ok (bool) –

The ReloadControllerLibraries service will reload all controllers that are available in the system as plugins

Reloading libraries only works if there are no controllers loaded. If there are still some controllers loaded, the reloading will fail. If this bool is set to true, all loaded controllers will get killed automatically, and the reloading can succeed.

# The ReloadControllerLibraries service will reload all controllers that are available in
# the system as plugins


# Reloading libraries only works if there are no controllers loaded. If there
# are still some controllers loaded, the reloading will fail.
# If this bool is set to true, all loaded controllers will get
# killed automatically, and the reloading can succeed.
bool force_kill
---
bool ok

controller_manager_msgs/ListControllerTypes¶

Field (Response):
	types[] (string) – base_classes[] (string) –

The ListControllers service returns a list of controller types that are known to the controller manager plugin mechanism.

# The ListControllers service returns a list of controller types that are known
# to the controller manager plugin mechanism.

---
string[] types
string[] base_classes