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…publish (right arm, left arm) inside ros2_control configuration
…ith right and left arm
charlesmadjeri
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charlesmadjeri
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Add in package.xml and CMakelists the package as test target to check build.
Also add unit tests if possible.
| #include "rclcpp_lifecycle/state.hpp" | ||
| #include <sensor_msgs/msg/joint_state.hpp> | ||
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| namespace ros2_control_demo_example_2 |
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demo_example_2 naming should be changed to a persisting naming
| // Copyright 2021 ros2_control Development Team | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. |
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Copyright ? It should be our own implementation now is it ?
| // Copyright 2021 ros2_control Development Team | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. |
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Copyright ? It should be our own implementation now is it ?
| #include "hardware_interface/lexical_casts.hpp" | ||
| #include "hardware_interface/types/hardware_interface_type_values.hpp" | ||
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| namespace ros2_control_demo_example_2 |
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demo_example_2 naming should be changed to a persisting naming
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| /* | ||
| This function should be used to initialize/activate the hardware. | ||
| In our case, the hardware is already ready to receive informations from the Jetson ? |
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To answer, we will probably use this function later to trigger the config change check and update config pipeline
| # install( | ||
| # DIRECTORY description/launch description/ros2_control description/urdf | ||
| # DESTINATION share/ros2_control_demo_example_2 | ||
| # ) | ||
| # install( | ||
| # DIRECTORY bringup/launch bringup/config | ||
| # DESTINATION share/ros2_control_demo_example_2 | ||
| # ) |
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Add test config to be built by colcon during tests pipeline
| type="ros2_control_demo_example_2::LucySystemHardware" | ||
| base_class_type="hardware_interface::SystemInterface"> | ||
| <description> | ||
| Our LucySystemHardware. |
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"Sentience Robotics Lucy system ros2_control package"
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Or the same as the next xml file
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2 xml files, why ? Is it standard and following good practicies ?
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2 xml files, why ? Is it standard and following good practicies ?
Signed-off-by: Charles Madjeri <charles@madjeri.com>
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Signed-off-by: Charles Madjeri <charles@madjeri.com>
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