ros2_interfaces_rolling/control_toolbox/srv/
set_pid_gains.rs

1use serde::{Deserialize, Serialize};
2
3
4#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
5pub struct SetPidGainsRequest {
6    pub p: f64,
7    pub i: f64,
8    pub d: f64,
9    pub i_clamp: f64,
10    pub antiwindup: bool,
11}
12
13impl Default for SetPidGainsRequest {
14    fn default() -> Self {
15        SetPidGainsRequest {
16            p: 0.0,
17            i: 0.0,
18            d: 0.0,
19            i_clamp: 0.0,
20            antiwindup: false,
21        }
22    }
23}
24
25impl ros2_client::Message for SetPidGainsRequest {}
26
27
28
29#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
30pub struct SetPidGainsResponse {
31
32}
33
34impl Default for SetPidGainsResponse {
35    fn default() -> Self {
36        SetPidGainsResponse {
37
38        }
39    }
40}
41
42impl ros2_client::Message for SetPidGainsResponse {}
43
44
45pub struct SetPidGains;
46impl ros2_client::Service for SetPidGains {
47    type Request = SetPidGainsRequest;
48    type Response = SetPidGainsResponse;
49
50    fn request_type_name(&self) -> &str { "SetPidGainsRequest" }
51    fn response_type_name(&self) -> &str { "SetPidGainsResponse" }
52}