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* update system ros interface * update system e-stop * add generic ugv_system * fix ugv_system * fix robot driver initialization * add lynx system * Add panther system implementation * add get speed commands tests * add system ros interface tests * update docs * review suggestions * update README.md
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...er_hardware_interfaces/include/panther_hardware_interfaces/panther_system/lynx_system.hpp
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| // Copyright 2024 Husarion sp. z o.o. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef PANTHER_HARDWARE_INTERFACES_PANTHER_SYSTEM_LYNX_SYSTEM_HPP_ | ||
| #define PANTHER_HARDWARE_INTERFACES_PANTHER_SYSTEM_LYNX_SYSTEM_HPP_ | ||
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| #include <string> | ||
| #include <vector> | ||
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| #include "panther_hardware_interfaces/panther_system/ugv_system.hpp" | ||
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| namespace panther_hardware_interfaces | ||
| { | ||
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| /** | ||
| * @brief Class that implements UGVSystem for Lynx robot | ||
| */ | ||
| class LynxSystem : public UGVSystem | ||
| { | ||
| public: | ||
| RCLCPP_SHARED_PTR_DEFINITIONS(LynxSystem) | ||
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| LynxSystem() : UGVSystem(kJointOrder) {} | ||
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| ~LynxSystem() = default; | ||
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| protected: | ||
| void ReadCANopenSettingsDriverCANIDs() override; | ||
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| virtual void DefineRobotDriver() override; // virtual for testing | ||
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| void UpdateHwStates() override; | ||
| void UpdateMotorsStateDataTimedOut() override; | ||
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| void UpdateDriverStateMsg() override; | ||
| void UpdateFlagErrors() override; | ||
| void UpdateDriverStateDataTimedOut() override; | ||
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| std::vector<float> GetSpeedCommands() const; | ||
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| void DiagnoseErrors(diagnostic_updater::DiagnosticStatusWrapper & status) override; | ||
| void DiagnoseStatus(diagnostic_updater::DiagnosticStatusWrapper & status) override; | ||
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| static const inline std::vector<std::string> kJointOrder = {"fl", "fr", "rl", "rr"}; | ||
| }; | ||
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| } // namespace panther_hardware_interfaces | ||
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| #endif // PANTHER_HARDWARE_INTERFACES_PANTHER_SYSTEM_LYNX_SYSTEM_HPP_ |
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