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### Description | ||
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[Summary of the changes] | ||
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### Modifications | ||
### Requirements | ||
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- [ ] Code style guidelines followed | ||
- [ ] Documentation updated | ||
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### Tests 🧪 | ||
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- [ ] Robot | ||
- [ ] Container | ||
- [ ] Simulation |
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--- | ||
name: Pre-Commit | ||
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on: | ||
push: | ||
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jobs: | ||
pre-commit: | ||
uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master | ||
with: | ||
ros_distro: humble |
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# ROS API | ||
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> [!IMPORTANT] | ||
> **Beta Release** | ||
> | ||
> Please be advised that the software you are about to use is a Beta version of the ROS 2 Driver for Panther. It is functional, and the architecture will not change significantly. Although it has been tested by the Husarion team, some stability issues and bugs may still occur. | ||
> | ||
> [!IMPORTANT] | ||
> **Beta Release** | ||
> | ||
> Please be advised that the software you are about to use is a Beta version of the ROS 2 Driver for Panther. It is functional, and the architecture will not change significantly. Although it has been tested by the Husarion team, some stability issues and bugs may still occur. | ||
> | ||
> We would greatly appreciate your feedback regarding the Panther ROS 2 driver. You can reach us in the following ways: | ||
> | ||
> | ||
> - By email at: [[email protected]](mailto:[email protected]) | ||
> - Via our community forum: [Husarion Community](https://community.husarion.com) | ||
> - By submitting an issue request on: [GitHub](https://github.com/husarion/panther_ros/issues) | ||
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@@ -49,6 +49,7 @@ Below is information about the physical robot API. For the simulation, topics an | |
| 🤖 | `hardware_controller` | Plugin responsible for communicating with engine controllers via the CAN bus and providing E-Stop functionalities. <br/> *[panther_hardware_interfaces/PantherSystem](./panther_hardware_interfaces/src/panther_system/)* | | ||
| 🤖 | `gps` | Node responsible for parsing NMEA strings and publishing standard ROS NavSat message types. <br/> *[nmea_navsat_driver/nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2/src/libnmea_navsat_driver)* | | ||
| 🖥️ | `gz_ros2_control` | Responsible for integrating the ros2_control controller architecture with the Gazebo simulator. <br/> [gz_ros2_control/gz_ros2_control](https://github.com/ros-controls/gz_ros2_control/tree/master/gz_ros2_control/src) | | ||
| 🖥️ | `gz_estop_gui` | The node is part of the Gazebo GUI plugin, enabling easy E-stop state modifications directly within the simulation. <br/> [panther_gazebo/EStop](./panther_gazebo/src/gui/e_stop.cpp) | | ||
| 🤖🖥️ | `imu_broadcaster` | Publishes readings of IMU sensors. <br/> *[imu_sensor_broadcaster/imu_sensor_broadcaster](https://github.com/ros-controls/ros2_controllers/tree/master/imu_sensor_broadcaster)* | | ||
| 🤖🖥️ | `joint_state_broadcaster` | Reads all state interfaces and reports them on specific topics. <br/> *[joint_state_broadcaster/joint_state_broadcaster](https://github.com/ros-controls/ros2_controllers/tree/master/joint_state_broadcaster)* | | ||
| 🤖🖥️ | `lights_container` | Node for managing ROS components. This node manages: `lights_controller`, `lights_driver`. <br/>[*rclcpp_components/component_container*](https://github.com/ros2/rclcpp/tree/rolling/rclcpp_components) | | ||
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| 🤖🖥️⚙️ | `gps/fix` | Raw GPS data.<br/> [*sensor_msgs/NavSatFix*](https://docs.ros2.org/latest/api/sensor_msgs/msg/NavSatFix.html) | | ||
| 🤖 | `gps/time_reference` | The timestamp from the GPS device.<br/> [*sensor_msgs/TimeReference*](https://docs.ros2.org/latest/api/sensor_msgs/msg/TimeReference.html) | | ||
| 🤖 | `gps/vel` | Velocity output from the GPS device.<br/> [*geometry_msgs/TwistStamped*](https://docs.ros2.org/latest/api/geometry_msgs/msg/TwistStamped.html) | | ||
| 🤖 | `hardware/e_stop` | Current E-stop state.<br/> [*std_msgs/Bool*](https://docs.ros2.org/latest/api/std_msgs/msg/Bool.html). | | ||
| 🤖🖥️ | `hardware/e_stop` | Current E-stop state.<br/> [*std_msgs/Bool*](https://docs.ros2.org/latest/api/std_msgs/msg/Bool.html). | | ||
| 🤖 | `hardware/io_state` | Current IO state.<br/> [*panther_msgs/IOState*](https://github.com/husarion/panther_msgs) | | ||
| 🤖🖥️ | `hardware/motor_controllers_state` | Current motor controllers' state and error flags. Subscribed if using Roboteq motor controllers data.<br/> [*panther_msgs/DriverState*](https://github.com/husarion/panther_msgs) | | ||
| 🤖🖥️ | `imu/data` | Filtered IMU data.<br/> [*sensor_msgs/Imu*](https://docs.ros2.org/latest/api/sensor_msgs/msg/Imu.html) | | ||
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| 🤖 | `hardware/aux_power_enable` | Enables or disables AUX power.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html) | | ||
| 🤖 | `hardware/charger_enable` | Enables or disables external charger.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html) | | ||
| 🤖 | `hardware/digital_power_enable` | Enables or disables digital power.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html) | | ||
| 🤖 | `hardware/e_stop_reset` | Resets E-stop.<br/> [std_srvs/srv/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html) | | ||
| 🤖 | `hardware/e_stop_trigger` | Triggers E-stop.<br/> [std_srvs/srv/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html) | | ||
| 🤖🖥️ | `hardware/e_stop_reset` | Resets E-stop.<br/> [std_srvs/srv/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html) | | ||
| 🤖🖥️ | `hardware/e_stop_trigger` | Triggers E-stop.<br/> [std_srvs/srv/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html) | | ||
| 🤖 | `hardware/fan_enable` | Enables or disables fan.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html) | | ||
| 🤖 | `hardware/motor_power_enable` | Enables or disables motor power.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html) | | ||
| 🤖🖥️ | `lights/set_animation` | Sets LED animation.<br/> [panther_msgs/srv/SetLEDAnimation](https://github.com/husarion/panther_msgs) | | ||
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="3"> | ||
<name>panther</name> | ||
<version>2.1.0</version> | ||
<version>2.1.1</version> | ||
<description>Meta package that contains all packages of Panther</description> | ||
<maintainer email="[email protected]">Husarion</maintainer> | ||
<license>Apache License 2.0</license> | ||
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="3"> | ||
<name>panther_battery</name> | ||
<version>2.1.0</version> | ||
<version>2.1.1</version> | ||
<description>Nodes monitoring the battery state of Husarion Panhter robot</description> | ||
<maintainer email="[email protected]">Husarion</maintainer> | ||
<license>Apache License 2.0</license> | ||
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="3"> | ||
<name>panther_bringup</name> | ||
<version>2.1.0</version> | ||
<version>2.1.1</version> | ||
<description>Default launch files and configuration used to start Husarion Panther robot</description> | ||
<maintainer email="[email protected]">Husarion</maintainer> | ||
<license>Apache License 2.0</license> | ||
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="3"> | ||
<name>panther_controller</name> | ||
<version>2.1.0</version> | ||
<version>2.1.1</version> | ||
<description>ros2 controllers configuration for Panther</description> | ||
<maintainer email="[email protected]">Husarion</maintainer> | ||
<license>Apache License 2.0</license> | ||
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