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</li><li class=""><span class="expand-stub"></span><a href="ZO.Util.Rendering.html" title="ZO.Util.Rendering" class="">ZO.Util.Rendering</a><ul class="nav level2"><li class=""><a href="ZO.Util.Rendering.ZOAsyncGPUReadbackPlugin.html" title="ZOAsyncGPUReadbackPlugin" class="">ZOAsyncGPUReadbackPlugin</a></li><li class=""><a href="ZO.Util.Rendering.ZOAsyncGPUReadbackPluginRequest.html" title="ZOAsyncGPUReadbackPluginRequest" class="">ZOAsyncGPUReadbackPluginRequest</a></li></ul> </li></ul> </div></div></div></div></div><div class="article row grid-right"><div class="col-md-10"><article class="content wrap" id="_content" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface"><h1 id="ZO_ROS_Controllers_ZOROSControllerInterface" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface" class="text-break">Interface ZOROSControllerInterface</h1><div class="markdown level0 summary"><p>Defines a standard interface to ROS controllers from the controller manager.</p></div><div class="markdown level0 conceptual"></div><h6><strong>Namespace</strong>: <a class="xref" href="ZO.ROS.Controllers.html">ZO.ROS.Controllers</a></h6><h6><strong>Assembly</strong>: Unity.ZeroSim.dll</h6><h5 id="ZO_ROS_Controllers_ZOROSControllerInterface_syntax">Syntax</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">public interface ZOROSControllerInterface</code></pre></div><h3 id="properties">Properties</h3><span class="small pull-right mobile-hide"><span class="divider">|</span><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface_ControllerName.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface.ControllerName%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A">Improve this Doc</a></span><span class="small pull-right mobile-hide"><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L16">View Source</a></span><a id="ZO_ROS_Controllers_ZOROSControllerInterface_ControllerName_" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.ControllerName*"></a><h4 id="ZO_ROS_Controllers_ZOROSControllerInterface_ControllerName" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.ControllerName">ControllerName</h4><div class="markdown level1 summary"></div><div class="markdown level1 conceptual"></div><h5 class="decalaration">Declaration</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">string ControllerName { get; }</code></pre></div><h5 class="propertyValue">Property Value</h5><table class="table table-bordered table-striped table-condensed"><thead><tr><th>Type</th><th>Description</th></tr></thead><tbody><tr><td><span class="xref">System.String</span></td><td></td></tr></tbody></table><span class="small pull-right mobile-hide"><span class="divider">|</span><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface_ControllerState.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface.ControllerState%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A">Improve this Doc</a></span><span class="small pull-right mobile-hide"><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L21">View Source</a></span><a id="ZO_ROS_Controllers_ZOROSControllerInterface_ControllerState_" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.ControllerState*"></a><h4 id="ZO_ROS_Controllers_ZOROSControllerInterface_ControllerState" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.ControllerState">ControllerState</h4><div class="markdown level1 summary"></div><div class="markdown level1 conceptual"></div><h5 class="decalaration">Declaration</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">ControllerStateEnum ControllerState { get; }</code></pre></div><h5 class="propertyValue">Property Value</h5><table class="table table-bordered table-striped table-condensed"><thead><tr><th>Type</th><th>Description</th></tr></thead><tbody><tr><td><a class="xref" href="ZO.ROS.Controllers.ControllerStateEnum.html">ControllerStateEnum</a></td><td></td></tr></tbody></table><span class="small pull-right mobile-hide"><span class="divider">|</span><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface_ControllerStateMessage.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface.ControllerStateMessage%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A">Improve this Doc</a></span><span class="small pull-right mobile-hide"><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L23">View Source</a></span><a id="ZO_ROS_Controllers_ZOROSControllerInterface_ControllerStateMessage_" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.ControllerStateMessage*"></a><h4 id="ZO_ROS_Controllers_ZOROSControllerInterface_ControllerStateMessage" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.ControllerStateMessage">ControllerStateMessage</h4><div class="markdown level1 summary"></div><div class="markdown level1 conceptual"></div><h5 class="decalaration">Declaration</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">ControllerStateMessage ControllerStateMessage { get; }</code></pre></div><h5 class="propertyValue">Property Value</h5><table class="table table-bordered table-striped table-condensed"><thead><tr><th>Type</th><th>Description</th></tr></thead><tbody><tr><td><a class="xref" href="ZO.ROS.MessageTypes.ControllerManager.ControllerStateMessage.html">ControllerStateMessage</a></td><td></td></tr></tbody></table><span class="small pull-right mobile-hide"><span class="divider">|</span><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface_ControllerType.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface.ControllerType%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A">Improve this Doc</a></span><span class="small pull-right mobile-hide"><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L17">View Source</a></span><a id="ZO_ROS_Controllers_ZOROSControllerInterface_ControllerType_" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.ControllerType*"></a><h4 id="ZO_ROS_Controllers_ZOROSControllerInterface_ControllerType" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.ControllerType">ControllerType</h4><div class="markdown level1 summary"></div><div class="markdown level1 conceptual"></div><h5 class="decalaration">Declaration</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">string ControllerType { get; }</code></pre></div><h5 class="propertyValue">Property Value</h5><table class="table table-bordered table-striped table-condensed"><thead><tr><th>Type</th><th>Description</th></tr></thead><tbody><tr><td><span class="xref">System.String</span></td><td></td></tr></tbody></table><span class="small pull-right mobile-hide"><span class="divider">|</span><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface_HardwareInterface.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface.HardwareInterface%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A">Improve this Doc</a></span><span class="small pull-right mobile-hide"><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L19">View Source</a></span><a id="ZO_ROS_Controllers_ZOROSControllerInterface_HardwareInterface_" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.HardwareInterface*"></a><h4 id="ZO_ROS_Controllers_ZOROSControllerInterface_HardwareInterface" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.HardwareInterface">HardwareInterface</h4><div class="markdown level1 summary"></div><div class="markdown level1 conceptual"></div><h5 class="decalaration">Declaration</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">string HardwareInterface { get; }</code></pre></div><h5 class="propertyValue">Property Value</h5><table class="table table-bordered table-striped table-condensed"><thead><tr><th>Type</th><th>Description</th></tr></thead><tbody><tr><td><span class="xref">System.String</span></td><td></td></tr></tbody></table><h3 id="methods">Methods</h3><span class="small pull-right mobile-hide"><span class="divider">|</span><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface_LoadController.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface.LoadController%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A">Improve this Doc</a></span><span class="small pull-right mobile-hide"><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L28">View Source</a></span><a id="ZO_ROS_Controllers_ZOROSControllerInterface_LoadController_" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.LoadController*"></a><h4 id="ZO_ROS_Controllers_ZOROSControllerInterface_LoadController" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.LoadController">LoadController()</h4><div class="markdown level1 summary"><p>Set controller state to loaded/initialized</p></div><div class="markdown level1 conceptual"></div><h5 class="decalaration">Declaration</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">void LoadController()</code></pre></div><span class="small pull-right mobile-hide"><span class="divider">|</span><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface_StartController.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface.StartController%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A">Improve this Doc</a></span><span class="small pull-right mobile-hide"><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L38">View Source</a></span><a id="ZO_ROS_Controllers_ZOROSControllerInterface_StartController_" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.StartController*"></a><h4 id="ZO_ROS_Controllers_ZOROSControllerInterface_StartController" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.StartController">StartController()</h4><div class="markdown level1 summary"><p>Set controller state to started/running</p></div><div class="markdown level1 conceptual"></div><h5 class="decalaration">Declaration</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">void StartController()</code></pre></div><span class="small pull-right mobile-hide"><span class="divider">|</span><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface_StopController.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface.StopController%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A">Improve this Doc</a></span><span class="small pull-right mobile-hide"><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L43">View Source</a></span><a id="ZO_ROS_Controllers_ZOROSControllerInterface_StopController_" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.StopController*"></a><h4 id="ZO_ROS_Controllers_ZOROSControllerInterface_StopController" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.StopController">StopController()</h4><div class="markdown level1 summary"><p>Set controller state to stopped</p></div><div class="markdown level1 conceptual"></div><h5 class="decalaration">Declaration</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">void StopController()</code></pre></div><span class="small pull-right mobile-hide"><span class="divider">|</span><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface_UnloadController.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface.UnloadController%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A">Improve this Doc</a></span><span class="small pull-right mobile-hide"><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L33">View Source</a></span><a id="ZO_ROS_Controllers_ZOROSControllerInterface_UnloadController_" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.UnloadController*"></a><h4 id="ZO_ROS_Controllers_ZOROSControllerInterface_UnloadController" data-uid="ZO.ROS.Controllers.ZOROSControllerInterface.UnloadController">UnloadController()</h4><div class="markdown level1 summary"><p>Set controller state to unloaded/stopped</p></div><div class="markdown level1 conceptual"></div><h5 class="decalaration">Declaration</h5><div class="codewrapper"><pre><code class="lang-csharp hljs">void UnloadController()</code></pre></div></article></div><div class="hidden-sm col-md-2" role="complementary"><div class="sideaffix"><div class="contribution"><ul class="nav"><li><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/new/develop/apiSpec/new?filename=ZO_ROS_Controllers_ZOROSControllerInterface.md&value=---%0Auid%3A%20ZO.ROS.Controllers.ZOROSControllerInterface%0Asummary%3A%20'*You%20can%20override%20summary%20for%20the%20API%20here%20using%20*MARKDOWN*%20syntax'%0A---%0A%0A*Please%20type%20below%20more%20information%20about%20this%20API%3A*%0A%0A" class="contribution-link">Improve this Doc</a></li><li><a href="https://github.com/fsstudio-team/ZeroSimROSUnity/blob/develop/Runtime/Scripts/ROS/Unity/Controllers/ZOROSControllerInterface.cs/#L15" class="contribution-link">View Source</a></li></ul></div><nav class="bs-docs-sidebar hidden-print hidden-xs hidden-sm affix" id="affix"><h5>In This Article</h5><div></div></nav></div></div></div></div><footer><div class="grad-bottom"></div><div class="footer"><div class="container"><span class="pull-right"><a href="#top">Back to top</a></span><span>Generated by 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