Class ServoDescription

Defined in File servo_state_publisher.hpp

Class Documentation

class ServoDescription

ServoDescription captures configuration for one joint.

Public Functions

inline explicit ServoDescription(std::string joint_name_ = {})

ServoDescription(urdf::Model &model, std::string joint_name_, YAML::Node config)

inline float normalize(uint16_t pwm): Normalization code taken from PX4 Firmware src/modules/sensors/sensors.cpp Sensors::rc_poll() line 1966

inline float calculate_position(uint16_t pwm)

Public Members

std::string joint_name

float joint_lower

float joint_upper

size_t rc_channel

uint16_t rc_min

uint16_t rc_max

uint16_t rc_trim

uint16_t rc_dz

bool rc_rev