Class UGVSystem

Defined in File ugv_system.hpp

Inheritance Relationships

Base Type

public hardware_interface::SystemInterface

Derived Types

public husarion_ugv_hardware_interfaces::LynxSystem (Class LynxSystem)
public husarion_ugv_hardware_interfaces::PantherSystem (Class PantherSystem)

Class Documentation

class UGVSystem : public hardware_interface::SystemInterface 

Class that implements SystemInterface from ros2_control for Husarion UGV.

Subclassed by husarion_ugv_hardware_interfaces::LynxSystem, husarion_ugv_hardware_interfaces::PantherSystem

Public Functions

inline UGVSystem(const std::vector<std::string> &joint_order)

virtual ~UGVSystem() = default

CallbackReturn on_init(const hardware_interface::HardwareInfo &hardware_info) override

CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_cleanup(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_shutdown(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_error(const rclcpp_lifecycle::State &previous_state) override

std::vector<StateInterface> export_state_interfaces() override

std::vector<CommandInterface> export_command_interfaces() override

return_type read(const rclcpp::Time &time, const rclcpp::Duration&) override

return_type write(const rclcpp::Time&, const rclcpp::Duration&) override

Protected Functions

void CheckJointSize() const

void SortAndCheckJointNames()

void SetInitialValues()

void CheckInterfaces() const

void ReadDrivetrainSettings()

void ReadCANopenSettings()

virtual void ReadCANopenSettingsDriverCANIDs() = 0

void ReadInitializationActivationAttempts()

void ReadParametersAndCreateRoboteqErrorFilter()

void ReadDriverStatesUpdateFrequency()

virtual void ConfigureGPIOController()

void ConfigureRobotDriver()

virtual void DefineRobotDriver() = 0

virtual void ConfigureEStop()

void UpdateMotorsState()

void UpdateDriverState()

void UpdateEStopState()

virtual void UpdateHwStates() = 0

virtual void UpdateMotorsStateDataTimedOut() = 0

bool AreVelocityCommandsNearZero()

virtual void UpdateDriverStateMsg() = 0

virtual void UpdateFlagErrors() = 0

virtual void UpdateDriverStateDataTimedOut() = 0

void HandleRobotDriverWriteOperation(std::function<void()> write_operation)

virtual std::vector<float> GetSpeedCommands() const = 0

void MotorTorqueEnable(const bool enable)

virtual void DiagnoseErrors(diagnostic_updater::DiagnosticStatusWrapper &status) = 0

virtual void DiagnoseStatus(diagnostic_updater::DiagnosticStatusWrapper &status) = 0

Protected Attributes

const size_t joint_size_

std::vector<double> hw_commands_velocities_

std::vector<double> hw_states_positions_

std::vector<double> hw_states_velocities_

std::vector<double> hw_states_efforts_

const std::vector<std::string> joint_order_

std::vector<std::string> joints_names_sorted_

std::shared_ptr<GPIOControllerInterface> gpio_controller_

std::shared_ptr<RobotDriverInterface> robot_driver_

std::shared_ptr<EStopInterface> e_stop_

DrivetrainSettings drivetrain_settings_

CANopenSettings canopen_settings_

std::unique_ptr<SystemROSInterface> system_ros_interface_

unsigned max_roboteq_initialization_attempts_

unsigned max_roboteq_activation_attempts_

rclcpp::Logger logger_ = {rclcpp::get_logger("UGVSystem")}

rclcpp::Clock steady_clock_ = {RCL_STEADY_TIME}

std::shared_ptr<RoboteqErrorFilter> roboteq_error_filter_

std::shared_ptr<std::mutex> robot_driver_write_mtx_

rclcpp::Time next_driver_state_update_time_ = {0, 0, RCL_STEADY_TIME}

rclcpp::Duration driver_states_update_period_ = {0, 0}