Transmission Interface

Overview

transmission_interface contains data structures for representing mechanical transmissions, and methods for propagating position, velocity and effort variables between actuator and joint spaces.

In the same spirit as the hardware_interface package, this package wraps existing raw data (eg. current actuator position, reference joint command, etc.) under a consistent interface. By not imposing a specific layout on the raw data, it becomes easier to support arbitrary hardware drivers to software control.

Structure

There are three main elements involved in setting up a transmission_interface:

• The Transmission class defines an abstract interface for mapping position, velocity and effort variables between actuator and joint space. Derived classes implement specific transmission types, such as simple reducers, differentials and four-bar linkages. Note that a single transmission may couple the variables of multiple actuators and joints (eg. a differential couples two actuators to two joints).

• The TransmissionHandle class associates a name to a Transmission instance and a set of raw data variables it operates on (specified through the ActuatorData and JointData structures). Derived classes implement specific maps, such as JointToActuatorEffortHandle or ActuatorToJointStateHandle.

• The **TransmissionInterface** class manages a set of transmission handles of the same type. Note that although the handles are of the same type, the underlying transmissions can be heterogeneous eg. a single **ActuatorToJointPositionInterface** can be set up to transform position variables from actuator to joint space for an arm with a four-bar-linkage in the shoulder, a differential in the wrist, and simple reducers elsewhere.

Examples

Please refer to the transmission_interface wiki page.

Changelog for package transmission_interface

0.18.4 (2021-06-16)

0.18.3 (2020-12-05)

• Update docs in hardware_interface
• Contributors: Franz Pucher

0.18.2 (2020-08-17)

0.18.1 (2020-05-09)

• Add function specifiers and modernize constructors (#430)
  • Add override specifiers & default constructors
  • Delete ControllerBase copy & move ctors
  • Remove unnecessary default constructors
  • Modernize additional constructors
  • Revert ImuSensorHandle::<Data::Data>() = default
  • Remove unnecessary default overridden constructors
  • Remove semicolon after function body
• Contributors: Matt Reynolds

0.18.0 (2020-04-16)

• Add xmlns for URDF, remove xmlns:xacro (#436)
• Fixed compile tests (#434)
• Replace internal::is_permutation with std (#419)
• Bump CMake version to avoid CMP0048 (#427)
• Contributors: Alejandro Hernández Cordero, Matt Reynolds, Shane Loretz

0.17.0 (2020-02-24)

• Use default member initializers
• Use braces for member initializers
• Replace boost with std
• Replace boost ptrs with std ptrs in documentation
• Replace boost::lexical_cast<double> with std::stod
• Prefer default member initializers
• Use auto
• Contributors: AbhinavSingh, Bence Magyar, Matt Reynolds

0.16.0 (2020-01-27)

• Use more meaningful pair iterator names
• Use range-based for loops in transmission_interface
• Resolve Boost dependency issues
• Update dependencies
  • Dependencies needed to compile are <build_depend>
  • Dependencies used in public headers are <build_export_depend>
  • Dependencies needed to link or run are <exec_depend>
• Merge branch 'melodic-devel' into catkin-lint
• Update package dependencies
• Remove rosunit test_depend from package.xml
• Prefer nullptr for null pointers
• Merge pull request #406 from matthew-reynolds/pragma-once Use #pragma once
• Add missing header guard to loader_utils.h
• Replace header guard with #pragma once
• Merge pull request #395 from pal-robotics-forks/extend-interfaces-melodic Extend interfaces
• Add torque sensor and absolute encoder support to transmissions and adjust tests Add pointer accessors for torque sensor and absoute position encoders
• Modified structures to have absolute encoder and torque sensor parameters
• Fix transmission_interface dependencies
• Apply consistent style to CMakeLists.txt files
• Apply consistent style to package.xml files
• Merge pull request #399 from mvieth/melodic-devel Fix compiler warnings
• Fix compiler warnings
  • Comment out unused parameters
  • Make some integer literals unsigned to avoid comparison between signed and unsigned
  • Remove unnecessary semicolons
  • Make const void return type to void
• Fix build error in clang error: non-aggregate type 'std::vector' (aka 'vector >') cannot be initialized with an initializer list
• Merge pull request #379 from bmagyar/transmission-parser-touchup TransmissionParser touchup
• Fix typo in docs
• TransmissionParser private -> protected
• fix install destination (#377)
• Contributors: Bence Magyar, Gennaro Raiola, Hilario Tome, James Xu, Markus Vieth, Matt Reynolds, Victor Lopez

0.15.1 (2018-09-30)

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