Added functionality for auto-switching of chained mode in controllers.

ros-controls · Mar 16, 2022 · 126f154 · 126f154
1 parent 06db1c0
commit 126f154
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Showing 3 changed files with 498 additions and 24 deletions.
diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -254,6 +254,9 @@ class ControllerManager : public rclcpp::Node
   CONTROLLER_MANAGER_PUBLIC
   void stop_controllers();
 
+  CONTROLLER_MANAGER_PUBLIC
+  void switch_chained_mode();
+
   CONTROLLER_MANAGER_PUBLIC
   void start_controllers();
 
@@ -450,6 +453,7 @@ class ControllerManager : public rclcpp::Node
     set_hardware_component_state_service_;
 
   std::vector<std::string> start_request_, stop_request_;
+  std::vector<std::string> to_chained_mode_request_, from_chained_mode_request_;
   std::vector<std::string> start_command_interface_request_, stop_command_interface_request_;
 
   struct SwitchParams