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change: allow to build in galactic #2

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9157292
change: allow to build in galactic
Buzzology Jan 21, 2023
d0126dc
add: includes
Buzzology Jan 21, 2023
1128e8e
add: gitignore
Buzzology Feb 3, 2023
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4 changes: 4 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
/build/*
/install/*
/log/*
/include/*
12 changes: 5 additions & 7 deletions include/diffdrive_arduino/diffdrive_arduino.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,36 +4,34 @@
#include <cstring>
#include "rclcpp/rclcpp.hpp"

#include "hardware_interface/base_interface.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "hardware_interface/types/hardware_interface_status_values.hpp"
#include "rclcpp_lifecycle/state.hpp"

#include "config.h"
#include "wheel.h"
#include "arduino_comms.h"


using hardware_interface::return_type;

class DiffDriveArduino : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
class DiffDriveArduino : public hardware_interface::SystemInterface
{


public:
DiffDriveArduino();

return_type configure(const hardware_interface::HardwareInfo & info) override;
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;

std::vector<hardware_interface::StateInterface> export_state_interfaces() override;

std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

return_type start() override;
CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;

return_type stop() override;
CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;

return_type read() override;

Expand Down
11 changes: 5 additions & 6 deletions include/diffdrive_arduino/fake_robot.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,34 +4,33 @@

#include "rclcpp/rclcpp.hpp"

#include "hardware_interface/base_interface.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "hardware_interface/types/hardware_interface_status_values.hpp"
#include "rclcpp_lifecycle/state.hpp"

#include "config.h"
#include "wheel.h"

using hardware_interface::return_type;

class FakeRobot : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
class FakeRobot : public hardware_interface::SystemInterface
{


public:
FakeRobot();

return_type configure(const hardware_interface::HardwareInfo & info) override;
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;

std::vector<hardware_interface::StateInterface> export_state_interfaces() override;

std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

return_type start() override;
CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;

return_type stop() override;
CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;

return_type read() override;

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25 changes: 9 additions & 16 deletions src/diffdrive_arduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,19 +5,16 @@




DiffDriveArduino::DiffDriveArduino()
: logger_(rclcpp::get_logger("DiffDriveArduino"))
{}





return_type DiffDriveArduino::configure(const hardware_interface::HardwareInfo & info)
CallbackReturn DiffDriveArduino::on_init(const hardware_interface::HardwareInfo & info)
{
if (configure_default(info) != return_type::OK) {
return return_type::ERROR;
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
{
return CallbackReturn::ERROR;
}

RCLCPP_INFO(logger_, "Configuring...");
Expand All @@ -41,8 +38,7 @@ return_type DiffDriveArduino::configure(const hardware_interface::HardwareInfo &

RCLCPP_INFO(logger_, "Finished Configuration");

status_ = hardware_interface::status::CONFIGURED;
return return_type::OK;
return CallbackReturn::SUCCESS;
}

std::vector<hardware_interface::StateInterface> DiffDriveArduino::export_state_interfaces()
Expand Down Expand Up @@ -72,7 +68,7 @@ std::vector<hardware_interface::CommandInterface> DiffDriveArduino::export_comma
}


return_type DiffDriveArduino::start()
CallbackReturn DiffDriveArduino::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
{
RCLCPP_INFO(logger_, "Starting Controller...");

Expand All @@ -81,17 +77,14 @@ return_type DiffDriveArduino::start()
// arduino.setPidValues(14,7,0,100);
arduino_.setPidValues(30, 20, 0, 100);

status_ = hardware_interface::status::STARTED;

return return_type::OK;
return CallbackReturn::SUCCESS;
}

return_type DiffDriveArduino::stop()
CallbackReturn DiffDriveArduino::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
{
RCLCPP_INFO(logger_, "Stopping Controller...");
status_ = hardware_interface::status::STOPPED;

return return_type::OK;
return CallbackReturn::SUCCESS;
}

hardware_interface::return_type DiffDriveArduino::read()
Expand Down
20 changes: 9 additions & 11 deletions src/fake_robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,11 @@ FakeRobot::FakeRobot()



return_type FakeRobot::configure(const hardware_interface::HardwareInfo & info)
CallbackReturn FakeRobot::on_init(const hardware_interface::HardwareInfo & info)
{
if (configure_default(info) != return_type::OK) {
return return_type::ERROR;
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
{
return CallbackReturn::ERROR;
}

RCLCPP_INFO(logger_, "Configuring...");
Expand All @@ -33,8 +34,7 @@ return_type FakeRobot::configure(const hardware_interface::HardwareInfo & info)

RCLCPP_INFO(logger_, "Finished Configuration");

status_ = hardware_interface::status::CONFIGURED;
return return_type::OK;
return CallbackReturn::SUCCESS;
}

std::vector<hardware_interface::StateInterface> FakeRobot::export_state_interfaces()
Expand Down Expand Up @@ -64,20 +64,18 @@ std::vector<hardware_interface::CommandInterface> FakeRobot::export_command_inte
}


return_type FakeRobot::start()
CallbackReturn FakeRobot::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
{
RCLCPP_INFO(logger_, "Starting Controller...");
status_ = hardware_interface::status::STARTED;

return return_type::OK;
return CallbackReturn::SUCCESS;
}

return_type FakeRobot::stop()
CallbackReturn FakeRobot::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
{
RCLCPP_INFO(logger_, "Stopping Controller...");
status_ = hardware_interface::status::STOPPED;

return return_type::OK;
return CallbackReturn::SUCCESS;;
}

hardware_interface::return_type FakeRobot::read()
Expand Down