Added HardwareInterface

include/ur_rtde_driver/ros/hardware_interface.h

@@ -0,0 +1,72 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-04-11
+ *
+ */
+//----------------------------------------------------------------------
+#ifndef UR_DRIVER_HARDWARE_INTERFACE_H_INCLUDED
+#define UR_DRIVER_HARDWARE_INTERFACE_H_INCLUDED
+
+#include <hardware_interface/robot_hw.h>
+#include <hardware_interface/force_torque_sensor_interface.h>
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/joint_state_interface.h>
+#include <algorithm>
+
+#include "ur_rtde_driver/ur/ur_driver.h"
+
+namespace ur_driver
+{
+class HardwareInterface : public hardware_interface::RobotHW
+{
+public:
+  HardwareInterface();
+  virtual ~HardwareInterface() = default;
+  virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw_nh) override;
+  virtual void read(const ros::Time& time, const ros::Duration& period) override;
+  virtual void write(const ros::Time& time, const ros::Duration& period) override;
+  virtual bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
+                             const std::list<hardware_interface::ControllerInfo>& stop_list) override;
+  virtual void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
+                        const std::list<hardware_interface::ControllerInfo>& stop_list) override;
+
+  const uint32_t getControlFrequency() const;
+
+protected:
+  std::unique_ptr<UrDriver> ur_driver_;
+
+  hardware_interface::JointStateInterface js_interface_;
+  hardware_interface::PositionJointInterface pj_interface_;
+  // hardware_interface::VelocityJointInterface vj_interface_;
+
+  vector6d_t joint_position_command_;
+  // std::vector<double> joint_velocity_command_;
+  vector6d_t joint_positions_;
+  vector6d_t joint_velocities_;
+  vector6d_t joint_efforts_;
+  std::vector<std::string> joint_names_;
+};
+
+}  // namespace ur_driver
+
+#endif  // ifndef UR_DRIVER_HARDWARE_INTERFACE_H_INCLUDED

include/ur_rtde_driver/ur/ur_driver.h

@@ -55,6 +55,11 @@ public:
    */
   std::unique_ptr<rtde_interface::DataPackage> getDataPackage();
 
+  const uint32_t& getControlFrequency() const
+  {
+    return rtde_frequency_;
+  }
+
 private:
   //! This frequency is used for the rtde interface. By default, it will be 125Hz on CB3 and 500Hz on the e-series.
   uint32_t rtde_frequency_;