Class BitFootHardwareInterface

Defined in File bitfoot_hardware_interface.hpp

Inheritance Relationships

Base Type

public bitbots_ros_control::HardwareInterface (Class HardwareInterface)

Class Documentation

class bitbots_ros_control::BitFootHardwareInterface : public bitbots_ros_control::HardwareInterface 

Public Functions

explicit BitFootHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id, std::string topic_name, std::string name)

virtual bool init()

virtual void read(const rclcpp::Time &t, const rclcpp::Duration &dt)

virtual void write(const rclcpp::Time &t, const rclcpp::Duration &dt)

Private Members

rclcpp::Node::SharedPtr nh_

std::shared_ptr<DynamixelDriver> driver_

std::vector<std::vector<double>> current_pressure_

rclcpp::Publisher<bitbots_msgs::msg::FootPressure>::SharedPtr pressure_pub_

int id_

std::string topic_name_

std::string name_

bitbots_msgs::msg::FootPressure msg_

rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diagnostic_pub_

std::array<uint8_t, 16> data_