-
Notifications
You must be signed in to change notification settings - Fork 9
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'ros2-lynx-devel' into ros2-lynx-sim
- Loading branch information
Showing
28 changed files
with
2,940 additions
and
2,204 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
60 changes: 60 additions & 0 deletions
60
...er_hardware_interfaces/include/panther_hardware_interfaces/panther_system/lynx_system.hpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| // 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. | ||
|
|
||
| #ifndef PANTHER_HARDWARE_INTERFACES_PANTHER_SYSTEM_LYNX_SYSTEM_HPP_ | ||
| #define PANTHER_HARDWARE_INTERFACES_PANTHER_SYSTEM_LYNX_SYSTEM_HPP_ | ||
|
|
||
| #include <string> | ||
| #include <vector> | ||
|
|
||
| #include "panther_hardware_interfaces/panther_system/ugv_system.hpp" | ||
|
|
||
| namespace panther_hardware_interfaces | ||
| { | ||
|
|
||
| /** | ||
| * @brief Class that implements UGVSystem for Lynx robot | ||
| */ | ||
| class LynxSystem : public UGVSystem | ||
| { | ||
| public: | ||
| RCLCPP_SHARED_PTR_DEFINITIONS(LynxSystem) | ||
|
|
||
| LynxSystem() : UGVSystem(kJointOrder) {} | ||
|
|
||
| ~LynxSystem() = default; | ||
|
|
||
| protected: | ||
| void ReadCANopenSettingsDriverCANIDs() override; | ||
|
|
||
| virtual void DefineRobotDriver() override; // virtual for testing | ||
|
|
||
| void UpdateHwStates() override; | ||
| void UpdateMotorsStateDataTimedOut() override; | ||
|
|
||
| void UpdateDriverStateMsg() override; | ||
| void UpdateFlagErrors() override; | ||
| void UpdateDriverStateDataTimedOut() override; | ||
|
|
||
| std::vector<float> GetSpeedCommands() const; | ||
|
|
||
| void DiagnoseErrors(diagnostic_updater::DiagnosticStatusWrapper & status) override; | ||
| void DiagnoseStatus(diagnostic_updater::DiagnosticStatusWrapper & status) override; | ||
|
|
||
| static const inline std::vector<std::string> kJointOrder = {"fl", "fr", "rl", "rr"}; | ||
| }; | ||
|
|
||
| } // namespace panther_hardware_interfaces | ||
|
|
||
| #endif // PANTHER_HARDWARE_INTERFACES_PANTHER_SYSTEM_LYNX_SYSTEM_HPP_ |
Oops, something went wrong.