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Added recover and stop in RobotHW #294

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Added recover and stop in RobotHW #294

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1fcfc3b
Added recover and stop in RobotHW
destogl Nov 30, 2017
14f5823
Update robot_hw.h
destogl Dec 5, 2017
49c6d28
Merge remote-tracking branch 'upstream/kinetic-devel' into recover_st…
Nov 20, 2018
94c846f
recover and stop in combined_robot_hw
Nov 20, 2018
6bde484
adjusted stop() and recover() and writed tests for them
Dec 5, 2018
d11b9b4
initialize recover_success
muritane Dec 10, 2018
e0abbb8
tab to spaces
muritane Dec 10, 2018
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15 changes: 15 additions & 0 deletions hardware_interface/include/hardware_interface/robot_hw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,21 @@ class RobotHW : public InterfaceManager
* \returns True if initialization was successful
*/
virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh) {return true;}

/** \brief The stop function is called to stop the RobotHW from a
* non-realtime thread. Usually on controller manager shutdown.
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*
* \returns True if stopping was successful
*/
virtual bool stop() {return true;}

/** \brief The recover function is called to recover/reinitialize the RobotHW after and
* error state (e.g. emergency stop, safety stop, hardware limits) from a non-realtime
* thread.
*
* \returns True if recovering was successful
*/
virtual bool recover() {return true;}

/** \name Resource Management
*\{*/
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