Class ButtonHardwareInterface

Defined in File button_hardware_interface.hpp

Inheritance Relationships

Base Type

public bitbots_ros_control::HardwareInterface (Class HardwareInterface)

Class Documentation

class bitbots_ros_control::ButtonHardwareInterface : public bitbots_ros_control::HardwareInterface 

Public Functions

explicit ButtonHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id, std::string topic, int read_rate_)

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_

int counter_ = 0

std::shared_ptr<DynamixelDriver> driver_

int id_

std::string topic_

rclcpp::Publisher<bitbots_msgs::msg::Buttons>::SharedPtr button_pub_

int read_rate_

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

std::array<uint8_t, 3> data_