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Add pal_statistics to limiting #31

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Add pal_statistics to limiting #31

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2 changes: 2 additions & 0 deletions ...ace/include/joint_state_topic_hardware_interface/joint_state_topic_hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,8 @@ class JointStateTopicSystem : public hardware_interface::SystemInterface
public:
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams& params) override;

CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;

std::vector<hardware_interface::StateInterface> export_state_interfaces() override;

std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
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10 changes: 10 additions & 0 deletions joint_state_topic_hardware_interface/src/joint_state_topic_hardware_interface.cpp
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Expand Up @@ -22,6 +22,7 @@
#include <vector>

#include <angles/angles.h>
#include <hardware_interface/introspection.hpp>
#include <joint_state_topic_hardware_interface/joint_state_topic_hardware_interface.hpp>
#include <rclcpp/executors.hpp>

Expand Down Expand Up @@ -152,6 +153,15 @@ CallbackReturn JointStateTopicSystem::on_init(const hardware_interface::Hardware
return CallbackReturn::SUCCESS;
}

CallbackReturn JointStateTopicSystem::on_configure(const rclcpp_lifecycle::State& /*previous_state*/)
{
REGISTER_ROS2_CONTROL_INTROSPECTION("nonlimited_left_wheel_velocity", &nonlimited_velocity_commands_[0]);
REGISTER_ROS2_CONTROL_INTROSPECTION("nonlimited_right_wheel_velocity", &nonlimited_velocity_commands_[1]);
REGISTER_ROS2_CONTROL_INTROSPECTION("limited_left_wheel_velocity", &limited_velocity_commands_[0]);
REGISTER_ROS2_CONTROL_INTROSPECTION("limited_right_wheel_velocity", &limited_velocity_commands_[1]);
return CallbackReturn::SUCCESS;
}

std::vector<hardware_interface::StateInterface> JointStateTopicSystem::export_state_interfaces()
{
std::vector<hardware_interface::StateInterface> state_interfaces;
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