Class LedsHardwareInterface

Defined in File leds_hardware_interface.hpp

Inheritance Relationships

Base Type

public bitbots_ros_control::HardwareInterface (Class HardwareInterface)

Class Documentation

class bitbots_ros_control::LedsHardwareInterface : public bitbots_ros_control::HardwareInterface 

Public Functions

LedsHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, uint8_t id, uint8_t num_leds, uint8_t start_number)

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 Functions

void setLeds(const std::shared_ptr<bitbots_msgs::srv::Leds::Request> req, std::shared_ptr<bitbots_msgs::srv::Leds::Response> resp)

void ledCb0(std_msgs::msg::ColorRGBA msg)

void ledCb1(std_msgs::msg::ColorRGBA msg)

void ledCb2(std_msgs::msg::ColorRGBA msg)

Private Members

rclcpp::Node::SharedPtr nh_

std::shared_ptr<DynamixelDriver> driver_

uint8_t id_

uint8_t start_number_

bool write_leds_ = false

std::vector<std_msgs::msg::ColorRGBA> leds_

rclcpp::Service<bitbots_msgs::srv::Leds>::SharedPtr leds_service_

rclcpp::Subscription<std_msgs::msg::ColorRGBA>::SharedPtr sub0_

rclcpp::Subscription<std_msgs::msg::ColorRGBA>::SharedPtr sub1_

rclcpp::Subscription<std_msgs::msg::ColorRGBA>::SharedPtr sub2_