-
Notifications
You must be signed in to change notification settings - Fork 5
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Rename xacro file from littlebot_robot to littlebot_body
- Loading branch information
Showing
4 changed files
with
270 additions
and
269 deletions.
There are no files selected for viewing
165 changes: 83 additions & 82 deletions
165
littlebot_base/include/littlebot_base/littlebot_hardware.hpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,82 +1,83 @@ | ||
| // @ Copyright 2023 Nestor Neto | ||
|
|
||
| #ifndef LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_LITTLEBOT_HARDWARE_HPP_ | ||
| #define LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_LITTLEBOT_HARDWARE_HPP_ | ||
|
|
||
| #include <memory> | ||
| #include <sstream> | ||
| #include <string> | ||
| #include <vector> | ||
|
|
||
| #include <libserial/serial.hpp> | ||
|
|
||
| #include "hardware_interface/base_interface.hpp" | ||
| #include "hardware_interface/handle.hpp" | ||
| #include "hardware_interface/hardware_info.hpp" | ||
| #include "hardware_interface/system_interface.hpp" | ||
| #include "hardware_interface/types/hardware_interface_return_values.hpp" | ||
| #include "hardware_interface/types/hardware_interface_status_values.hpp" | ||
| #include "hardware_interface/visibility_control.h" | ||
|
|
||
| #include "rclcpp/clock.hpp" | ||
| #include "rclcpp/duration.hpp" | ||
| #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" | ||
| #include "rclcpp_lifecycle/state.hpp" | ||
| #include "rclcpp/macros.hpp" | ||
| #include "rclcpp/rclcpp.hpp" | ||
| #include "rclcpp/time.hpp" | ||
|
|
||
|
|
||
| namespace littlebot_base { | ||
| class LittlebotHardware : public | ||
| hardware_interface::BaseInterface<hardware_interface::SystemInterface> { | ||
| public: | ||
| RCLCPP_SHARED_PTR_DEFINITIONS(LittlebotHardware) | ||
|
|
||
| HARDWARE_INTERFACE_PUBLIC | ||
| hardware_interface::return_type | ||
| configure(const hardware_interface::HardwareInfo & info) override; | ||
|
|
||
| HARDWARE_INTERFACE_PUBLIC | ||
| std::vector<hardware_interface::StateInterface> | ||
| export_state_interfaces() override; | ||
|
|
||
| HARDWARE_INTERFACE_PUBLIC | ||
| std::vector<hardware_interface::CommandInterface> | ||
| export_command_interfaces() override; | ||
|
|
||
| HARDWARE_INTERFACE_PUBLIC | ||
| hardware_interface::return_type start() override; | ||
|
|
||
| HARDWARE_INTERFACE_PUBLIC | ||
| hardware_interface::return_type stop() override; | ||
|
|
||
| HARDWARE_INTERFACE_PUBLIC | ||
| hardware_interface::return_type read() override; | ||
|
|
||
| HARDWARE_INTERFACE_PUBLIC | ||
| hardware_interface::return_type write() override; | ||
|
|
||
| private: | ||
| // Store the command for the simulated robot | ||
| double left_command_velocity_ = 0; | ||
| double right_command_velocity_ = 0; | ||
| double left_position_ = 0; | ||
| double right_position_ = 0; | ||
| double left_velocitie_ = 0; | ||
| double right_velocitie_ = 0; | ||
|
|
||
| // ROS Parameters | ||
| std::string left_wheel_name_ = ""; | ||
| std::string right_wheel_name_ = ""; | ||
| std::string serial_port_ = ""; | ||
| int encoder_ppr = 0; | ||
|
|
||
| // Serial device | ||
| serial::Serial serial_device_; | ||
| std::string message_protocol_; | ||
| }; | ||
|
|
||
| } // namespace littlebot_base | ||
|
|
||
| #endif // LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_LITTLEBOT_HARDWARE_HPP_ | ||
| // // @ Copyright 2023 Nestor Neto | ||
|
|
||
| // #ifndef LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_LITTLEBOT_HARDWARE_HPP_ | ||
| // #define LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_LITTLEBOT_HARDWARE_HPP_ | ||
|
|
||
| // #include <memory> | ||
| // #include <sstream> | ||
| // #include <string> | ||
| // #include <vector> | ||
|
|
||
| // #include <libserial/serial.hpp> | ||
|
|
||
| // // #include "hardware_interface/base_interface.hpp" | ||
| // #include "hardware_interface/handle.hpp" | ||
| // #include "hardware_interface/hardware_info.hpp" | ||
| // #include "hardware_interface/system_interface.hpp" | ||
| // // #include "hardware_interface/types/hardware_interface_return_values.hpp" | ||
| // // #include "hardware_interface/types/hardware_interface_status_values.hpp" | ||
| // #include "hardware_interface/types/hardware_interface_type_values.hpp" | ||
| // #include "hardware_interface/visibility_control.h" | ||
|
|
||
| // #include "rclcpp/clock.hpp" | ||
| // #include "rclcpp/duration.hpp" | ||
| // #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" | ||
| // #include "rclcpp_lifecycle/state.hpp" | ||
| // #include "rclcpp/macros.hpp" | ||
| // #include "rclcpp/rclcpp.hpp" | ||
| // #include "rclcpp/time.hpp" | ||
|
|
||
|
|
||
| // namespace littlebot_base { | ||
| // class LittlebotHardware : public | ||
| // hardware_interface::BaseInterface<hardware_interface::SystemInterface> { | ||
| // public: | ||
| // RCLCPP_SHARED_PTR_DEFINITIONS(LittlebotHardware) | ||
|
|
||
| // // HARDWARE_INTERFACE_PUBLIC | ||
| // // hardware_interface::return_type | ||
| // // configure(const hardware_interface::HardwareInfo & info) override; | ||
|
|
||
| // // HARDWARE_INTERFACE_PUBLIC | ||
| // // std::vector<hardware_interface::StateInterface> | ||
| // // export_state_interfaces() override; | ||
|
|
||
| // // HARDWARE_INTERFACE_PUBLIC | ||
| // // std::vector<hardware_interface::CommandInterface> | ||
| // // export_command_interfaces() override; | ||
|
|
||
| // // HARDWARE_INTERFACE_PUBLIC | ||
| // // hardware_interface::return_type start() override; | ||
|
|
||
| // // HARDWARE_INTERFACE_PUBLIC | ||
| // // hardware_interface::return_type stop() override; | ||
|
|
||
| // // HARDWARE_INTERFACE_PUBLIC | ||
| // // hardware_interface::return_type read() override; | ||
|
|
||
| // // HARDWARE_INTERFACE_PUBLIC | ||
| // // hardware_interface::return_type write() override; | ||
|
|
||
| // private: | ||
| // // Store the command for the simulated robot | ||
| // double left_command_velocity_ = 0; | ||
| // double right_command_velocity_ = 0; | ||
| // double left_position_ = 0; | ||
| // double right_position_ = 0; | ||
| // double left_velocitie_ = 0; | ||
| // double right_velocitie_ = 0; | ||
|
|
||
| // // ROS Parameters | ||
| // std::string left_wheel_name_ = ""; | ||
| // std::string right_wheel_name_ = ""; | ||
| // std::string serial_port_ = ""; | ||
| // int encoder_ppr = 0; | ||
|
|
||
| // // Serial device | ||
| // serial::Serial serial_device_; | ||
| // std::string message_protocol_; | ||
| // }; | ||
|
|
||
| // } // namespace littlebot_base | ||
|
|
||
| // #endif // LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_LITTLEBOT_HARDWARE_HPP_ |
Oops, something went wrong.