Class ServoBusInterface

Defined in File servo_bus_interface.hpp

Inheritance Relationships

Base Type

public bitbots_ros_control::HardwareInterface (Class HardwareInterface)

Class Documentation

class bitbots_ros_control::ServoBusInterface : public bitbots_ros_control::HardwareInterface 

Public Functions

explicit ServoBusInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, std::vector<std::tuple<int, std::string, float, float, std::string>> servos)

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()

bool loadDynamixels()

bool writeROMRAM(bool first_time)

void syncWritePWM()

void switchDynamixelControlMode()

diagnostic_msgs::msg::DiagnosticStatus createServoDiagMsg(int id, char level, std::string message, std::map<std::string, std::string> map, std::string name)

void processVte(bool success)

void writeTorque(bool enabled)

void writeTorqueForServos(std::vector<int32_t> torque)

bool syncReadPositions()

bool syncReadVelocities()

bool syncReadEfforts()

bool syncReadPWMs()

bool syncReadAll()

bool syncReadVoltageAndTemp()

bool syncReadError()

void syncWritePosition()

void syncWriteVelocity()

void syncWriteProfileVelocity()

void syncWriteCurrent()

void syncWriteProfileAcceleration()

Public Members

bool goal_torque_

bool current_torque_

rclcpp::Node::SharedPtr nh_

std::vector<int32_t> data_sync_read_positions_

std::vector<int32_t> data_sync_read_velocities_

std::vector<int32_t> data_sync_read_efforts_

std::vector<int32_t> data_sync_read_pwms_

std::vector<int32_t> data_sync_read_error_

std::vector<int32_t> sync_write_goal_position_

std::vector<int32_t> sync_write_goal_velocity_

std::vector<int32_t> sync_write_profile_velocity_

std::vector<int32_t> sync_write_profile_acceleration_

std::vector<int32_t> sync_write_goal_current_

std::vector<int32_t> sync_write_goal_pwm_

std::vector<uint8_t> sync_read_all_data_

bool first_cycle_

bool lost_servo_connection_

ControlMode control_mode_

bool switch_individual_torque_

std::shared_ptr<DynamixelDriver> driver_

std::vector<std::tuple<int, std::string, float, float, std::string>> servos_

int joint_count_

std::vector<int32_t> goal_torque_individual_

std::vector<std::string> joint_names_

std::vector<uint8_t> joint_ids_

std::vector<double> joint_mounting_offsets_

std::vector<double> joint_offsets_

std::vector<std::string> joint_groups_

std::vector<double> goal_position_

std::vector<double> goal_effort_

std::vector<double> goal_velocity_

std::vector<double> goal_acceleration_

std::vector<double> last_goal_position_

std::vector<double> last_goal_effort_

std::vector<double> last_goal_velocity_

std::vector<double> last_goal_acceleration_

bool read_position_

bool read_velocity_

bool read_effort_

bool read_pwm_

bool read_volt_temp_

std::vector<double> current_position_

std::vector<double> current_velocity_

std::vector<double> current_effort_

std::vector<double> current_pwm_

std::vector<double> current_input_voltage_

std::vector<double> current_temperature_

std::vector<uint8_t> current_error_

int read_vt_counter_

int vt_update_rate_

double warn_temp_

double warn_volt_

bool torqueless_mode_

int reading_errors_

int reading_successes_

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

rclcpp::Publisher<bitbots_msgs::msg::Audio>::SharedPtr speak_pub_