Class WolfgangHardwareInterface

Defined in File wolfgang_hardware_interface.hpp

Class Documentation

class bitbots_ros_control::WolfgangHardwareInterface

Public Functions

explicit WolfgangHardwareInterface(rclcpp::Node::SharedPtr nh)

bool init()

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

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

Private Functions

bool create_interfaces(std::vector<std::pair<std::string, int>> dxl_devices)

Private Members

rclcpp::Node::SharedPtr nh_

std::vector<std::vector<std::shared_ptr<bitbots_ros_control::HardwareInterface>>> interfaces_

DynamixelServoHardwareInterface servo_interface_

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

std::optional<rclcpp::Time> bus_start_time_

bool bus_first_write_ = {false}

bool first_ping_error_

bool only_imu_

bool only_pressure_

bool core_present_

bool current_power_status_

bool last_power_status_

std::shared_ptr<CoreHardwareInterface> core_interface_