Class PantherSystem

Defined in File panther_system.hpp

Inheritance Relationships

Base Type

public husarion_ugv_hardware_interfaces::UGVSystem (Class UGVSystem)

Class Documentation

class PantherSystem : public husarion_ugv_hardware_interfaces::UGVSystem 

Class that implements UGVSystem for Panther robot.

Public Functions

inline PantherSystem()

~PantherSystem() = default

Protected Functions

virtual void ReadCANopenSettingsDriverCANIDs() override

virtual void DefineRobotDriver() override

virtual void UpdateHwStates() override

virtual void UpdateMotorsStateDataTimedOut() override

virtual void UpdateDriverStateMsg() override

virtual void UpdateFlagErrors() override

virtual void UpdateDriverStateDataTimedOut() override

virtual std::vector<float> GetSpeedCommands() const

virtual void DiagnoseErrors(diagnostic_updater::DiagnosticStatusWrapper &status) override

virtual void DiagnoseStatus(diagnostic_updater::DiagnosticStatusWrapper &status) override

Protected Static Attributes

static const std::vector<std::string> kJointOrder = {"fl", "fr", "rl", "rr"}