Registration Name	Class Name	Package
ActivateController	auto_apms_ros2control::SwitchController	auto_apms_ros2control
CheckControllerState	auto_apms_ros2control::CheckControllerState	auto_apms_ros2control
CheckHardwareState	auto_apms_ros2control::CheckHardwareState	auto_apms_ros2control
CleanupController	auto_apms_ros2control::CleanupController	auto_apms_ros2control
ConfigureController	auto_apms_ros2control::ConfigureController	auto_apms_ros2control
DeactivateController	auto_apms_ros2control::SwitchController	auto_apms_ros2control
ListControllerTypes	auto_apms_ros2control::ListControllerTypes	auto_apms_ros2control
ListControllers	auto_apms_ros2control::ListControllers	auto_apms_ros2control
ListHardwareComponents	auto_apms_ros2control::ListHardwareComponents	auto_apms_ros2control
ListHardwareInterfaces	auto_apms_ros2control::ListHardwareInterfaces	auto_apms_ros2control
LoadController	auto_apms_ros2control::LoadController	auto_apms_ros2control
ReloadControllerLibraries	auto_apms_ros2control::ReloadControllerLibraries	auto_apms_ros2control
SetHardwareComponentState	auto_apms_ros2control::SetHardwareComponentState	auto_apms_ros2control
SwitchController	auto_apms_ros2control::SwitchController	auto_apms_ros2control
UnloadController	auto_apms_ros2control::UnloadController	auto_apms_ros2control

auto_apms_ros2control

ActivateController

Plugin Class: auto_apms_ros2control::SwitchController

C++ Model: auto_apms_ros2control::ActivateController

Node Type: Action

Description: Activates a single ros2_control controller

Input Ports

Input Name	Type	Default Value	Description
strictness	std::string	STRICT	Switching behavior on error. One of: BEST_EFFORT, STRICT, AUTO, FORCE_AUTO.
activate_controllers	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >		';'-separated names of the controllers to activate.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
message	std::string	❌	Service response: informational message.

CheckControllerState

Plugin Class: auto_apms_ros2control::CheckControllerState

C++ Model: auto_apms_ros2control::CheckControllerState

Node Type: Action

Description: Checks the current state of a single controller loaded by the controller manager

Input Ports

Input Name	Type	Default Value	Description
state	std::string		Expected state of the controller (e.g. active, inactive, unconfigured). If empty, only the existence of the controller is checked.
controller	std::string	❌	Name of the controller to check.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
current_state	std::string	❌	Current state of the controller.

CheckHardwareState

Plugin Class: auto_apms_ros2control::CheckHardwareState

C++ Model: auto_apms_ros2control::CheckHardwareState

Node Type: Action

Description: Checks the current lifecycle state of a single hardware component loaded by the controller manager

Input Ports

Input Name	Type	Default Value	Description
state	std::string		Expected lifecycle state of the hardware component (e.g. active, inactive, unconfigured, finalized). If empty, only the existence of the component is checked.
hardware	std::string	❌	Name of the hardware component to check.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
current_state	std::string	❌	Current lifecycle state label of the hardware component.

CleanupController

Plugin Class: auto_apms_ros2control::CleanupController

C++ Model: auto_apms_ros2control::CleanupController

Node Type: Action

Description: Cleans up an inactive controller (transition back to the 'unconfigured' state)

Input Ports

Input Name	Type	Default Value	Description
controller	std::string	❌	Name of the targeted controller.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

ConfigureController

Plugin Class: auto_apms_ros2control::ConfigureController

C++ Model: auto_apms_ros2control::ConfigureController

Node Type: Action

Description: Configures a loaded controller (transition to the 'inactive' state)

Input Ports

Input Name	Type	Default Value	Description
controller	std::string	❌	Name of the targeted controller.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

DeactivateController

Plugin Class: auto_apms_ros2control::SwitchController

C++ Model: auto_apms_ros2control::DeactivateController

Node Type: Action

Description: Deactivates a single ros2_control controller

Input Ports

Input Name	Type	Default Value	Description
strictness	std::string	STRICT	Switching behavior on error. One of: BEST_EFFORT, STRICT, AUTO, FORCE_AUTO.
deactivate_controllers	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >		';'-separated names of the controllers to deactivate.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
message	std::string	❌	Service response: informational message.

ListControllerTypes

Plugin Class: auto_apms_ros2control::ListControllerTypes

C++ Model: auto_apms_ros2control::ListControllerTypes

Node Type: Action

Description: Queries all controller types the controller manager is able to load

Input Ports

Input Name	Type	Default Value	Description
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
base_classes	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Base classes of the available controller types (aligned with 'types').
types	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all available controller types.

ListControllers

Plugin Class: auto_apms_ros2control::ListControllers

C++ Model: auto_apms_ros2control::ListControllers

Node Type: Action

Description: Queries the names and states of all controllers loaded by the controller manager

Input Ports

Input Name	Type	Default Value	Description
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
inactive_controllers	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all inactive controllers.
active_controllers	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all active controllers.
controllers	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all loaded controllers.

ListHardwareComponents

Plugin Class: auto_apms_ros2control::ListHardwareComponents

C++ Model: auto_apms_ros2control::ListHardwareComponents

Node Type: Action

Description: Queries the names and lifecycle states of all hardware components loaded by the controller manager

Input Ports

Input Name	Type	Default Value	Description
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
inactive_components	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all inactive hardware components.
active_components	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all active hardware components.
components	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all loaded hardware components.

ListHardwareInterfaces

Plugin Class: auto_apms_ros2control::ListHardwareInterfaces

C++ Model: auto_apms_ros2control::ListHardwareInterfaces

Node Type: Action

Description: Queries the names of all command and state interfaces registered with the controller manager

Input Ports

Input Name	Type	Default Value	Description
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
claimed_command_interfaces	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all currently claimed command interfaces.
available_command_interfaces	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all currently available command interfaces.
state_interfaces	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all state interfaces.
command_interfaces	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Names of all command interfaces.

LoadController

Plugin Class: auto_apms_ros2control::LoadController

C++ Model: auto_apms_ros2control::LoadController

Node Type: Action

Description: Loads a controller into the controller manager

Input Ports

Input Name	Type	Default Value	Description
controller	std::string	❌	Name of the targeted controller.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

ReloadControllerLibraries

Plugin Class: auto_apms_ros2control::ReloadControllerLibraries

C++ Model: auto_apms_ros2control::ReloadControllerLibraries

Node Type: Action

Description: Reloads all available controller libraries of the controller manager

Input Ports

Input Name	Type	Default Value	Description
force_kill	bool	false	Unload all loaded controllers before reloading the libraries.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

SetHardwareComponentState

Plugin Class: auto_apms_ros2control::SetHardwareComponentState

C++ Model: auto_apms_ros2control::SetHardwareComponentState

Node Type: Action

Description: Sets the lifecycle state of a hardware component loaded by the controller manager

Input Ports

Input Name	Type	Default Value	Description
target_state	std::string	❌	Target lifecycle state. One of: unconfigured, inactive, active, finalized.
component	std::string	❌	Name of the targeted hardware component.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
state	std::string	❌	Label of the hardware component's resulting lifecycle state.

SwitchController

Plugin Class: auto_apms_ros2control::SwitchController

C++ Model: auto_apms_ros2control::SwitchController

Node Type: Action

Description: Activates and/or deactivates one or more ros2_control controllers in one controller manager update cycle

Input Ports

Input Name	Type	Default Value	Description
timeout	double	0.000000	Timeout [s] before aborting pending controllers (0 = infinite).
activate_asap	bool	false	Activate the controllers as soon as their hardware dependencies are ready instead of waiting for all interfaces to become available.
strictness	std::string	STRICT	Switching behavior on error. One of: BEST_EFFORT, STRICT, AUTO, FORCE_AUTO.
deactivate_controllers	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >		';'-separated names of the controllers to deactivate.
activate_controllers	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >		';'-separated names of the controllers to activate.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.

Output Ports

Output Name	Type	Default Value	Description
message	std::string	❌	Service response: informational message.

UnloadController

Plugin Class: auto_apms_ros2control::UnloadController

C++ Model: auto_apms_ros2control::UnloadController

Node Type: Action

Description: Unloads a controller from the controller manager

Input Ports

Input Name	Type	Default Value	Description
controller	std::string	❌	Name of the targeted controller.
controller_manager	std::string	controller_manager	Name of the targeted controller manager.