whill_driver

WHILL Model CR2 driver package

README

whill_driver

About

The “whill_driver” is a ROS2 package for WHILL Model CR2 controller.

Package Structure

classDiagram

namespace whill_driver {
    class WhillNode{
        -publiser
        -subscriber
        -server
    }
    class Whill{
        +SendCommand()
        +ReceiveDataset()
    }
    class Parser{
        +Parse()
        +Checksum()
    }
    class SerialPort{
        +Open()
        +Close()
        +Send()
        +Receive()
    }
}

namespace rclcpp {
    class Node{
    }
    class Publisher{
    }
    class Subscription{
    }
    class Service{
    }
}

namespace whill_msgs {
    class WhillModelCMsg{
    }
    class SpeedProfileMsg{
    }
    class SetPowerSrv{
    }
    class SetSpeedProfileSrv{
    }
}

namespace c {
    class unistd{
        +open()
        +close()
        +write()
        +read()
    }
}

WhillNode --|> Node
WhillNode -- Publisher
WhillNode -- Subscription
WhillNode -- Service
WhillNode "1" *-- "1" Whill
Whill "1" *-- "1" Parser
Whill "1" *-- "1" SerialPort
SerialPort -- unistd
Whill -- WhillModelCMsg
Whill -- SpeedProfileMsg
Whill -- SetPowerSrv
Whill -- SetSpeedProfileSrv

Class name	Explanation
WhillNode	This class provides ROS2 Node, and has responsible for RCLCPP abstraction.
Whill	This class has WHILL Model CR2 domain. So, this class can understand control commands and WHILL state datasets.
Parser	This class has the ability to parse packets from WHILL.
SerialPort	This class provides serial port driver, and has responsible for hardware abstraction.

Note: whill_msgs is not provided by this repository.

License

Released under the MIT license