20 "[armadillo2_hw/roboteq_diff_drive]: %s param is missing on param server. make sure that this param exist in ricboard_config.yaml " 21 "and that your launch includes this param file. shutting down...",
ROBOTEQ_PORT_PARAM);
29 "[armadillo2_hw/roboteq_diff_drive]: %s param is missing on param server. make sure that this param exist in ricboard_config.yaml " 30 "and that your launch includes this param file. shutting down...",
ROBOTEQ_BAUD_PARAM);
38 "[armadillo2_hw/roboteq_diff_drive]: %s param is missing on param server. make sure that this param exist in ricboard_config.yaml " 47 "[armadillo2_hw/roboteq_diff_drive]: %s param is missing on param server. make sure that this param exist in ricboard_config.yaml " 60 "[armadillo2_hw/roboteq_diff_drive]: failed opening roboteq port. make sure roboteq is connected. shutting down...");
64 ROS_INFO(
"[armadillo2_hw/roboteq_diff_drive]: roboteq port opened successfully \nport name: %s \nbaudrate: %d",
70 roboteq_->initialize();
72 ROS_INFO(
"[armadillo2_hw/roboteq_diff_drive]: roboteq is up");
73 ROS_INFO(
"[armadillo2_hw/ricboard_pub]: ricboard is up");
78 ROS_WARN(
"[armadillo2_hw/roboteq_diff_drive]: roboteq hardware is disabled");
void read(const ros::Time &time, const ros::Duration &period)
RoboteqDiffDrive(ros::NodeHandle &nh)
void registerHandles(hardware_interface::JointStateInterface &joint_state_interface, hardware_interface::VelocityJointInterface &velocity_joint_interface)
std::string left_wheel_joint_
std::string right_wheel_joint_
void write(const ros::Time &time, const ros::Duration &period)
#define ROBOTEQ_BAUD_PARAM
#define LEFT_WHEEL_JOINT_PARAM
ros::Publisher espeak_pub_
ROSCPP_DECL bool get(const std::string &key, std::string &s)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
#define RIGHT_WHEEL_JOINT_PARAM
void read(const ros::Duration elapsed)
roboteq::Roboteq * roboteq_
void write(const ros::Duration elapsed)
roboteq::serial_controller * roboteq_serial_
std::string roboteq_port_
#define ROBOTEQ_PORT_PARAM
ROSCPP_DECL void shutdown()
void initializeInterfaces(hardware_interface::JointStateInterface &joint_state_interface, hardware_interface::VelocityJointInterface &velocity_joint_interface)