Class CoreHardwareInterface

Defined in File core_hardware_interface.hpp

Inheritance Relationships

Base Type

public bitbots_ros_control::HardwareInterface (Class HardwareInterface)

Class Documentation

class bitbots_ros_control::CoreHardwareInterface : public bitbots_ros_control::HardwareInterface 

Public Functions

explicit CoreHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id, int read_rate)

bool get_power_status()

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)

virtual void restoreAfterPowerCycle()

Private Functions

bool switch_power(std::shared_ptr<std_srvs::srv::SetBool::Request> req, std::shared_ptr<std_srvs::srv::SetBool::Response> resp)

Private Members

rclcpp::Node::SharedPtr nh_

std::shared_ptr<DynamixelDriver> driver_

int id_

int read_rate_

int read_counter_

std::array<uint8_t, 27> data_

bool requested_power_status_

bool last_read_successful_

std_msgs::msg::Bool power_switch_status_

std_msgs::msg::Bool power_control_status_

std_msgs::msg::Float64 VCC_

std_msgs::msg::Float64 VBAT_

std_msgs::msg::Float64MultiArray VBAT_individual_

std_msgs::msg::Float64 VEXT_

std_msgs::msg::Float64 VDXL_

std_msgs::msg::Float64 current_

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

rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr power_pub_

rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr vcc_pub_

rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr vbat_pub_

rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr vbat_individual_pub_

rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr vext_pub_

rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr vdxl_pub_

rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr current_pub_

rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr power_switch_service_