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Merge pull request #400 from husarion/ros2-update-sim-api
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gz_estop_gui
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@pawelirh
pawelirh authored Aug 30, 2024
2 parents 2249998 + 7cf4b1e commit b2eac41
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Expand Up @@ -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) |
Expand All @@ -74,7 +75,7 @@ Below is information about the physical robot API. For the simulation, topics an
| 🤖🖥️⚙️ | `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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