Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Ex10: use gpio_command_controller #627

Draft
wants to merge 7 commits into
base: master
Choose a base branch
from
Draft

Ex10: use gpio_command_controller #627

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
75bf712
Remove controller and use upstream one
christophfroehlich Nov 3, 2024
3032fbc
Fix error messages
christophfroehlich Nov 3, 2024
cfca7c0
Fix last demo section
christophfroehlich Nov 3, 2024
9640f44
Use fork for ros2_controllers
christophfroehlich Nov 3, 2024
129f840
Fix CMakeLists and deps
christophfroehlich Nov 3, 2024
d4e0201
Use upstream ros2_controllers
christophfroehlich Nov 4, 2024
0a9c4bd
Update docs with latest changes of controller
christophfroehlich Nov 6, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 0 additions & 9 deletions example_10/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
pluginlib
rclcpp
rclcpp_lifecycle
controller_interface
)

# Specify the required version of ros2_control
Expand All @@ -39,12 +38,10 @@ add_library(
ros2_control_demo_example_10
SHARED
hardware/rrbot.cpp
controllers/gpio_controller.cpp
)
target_compile_features(ros2_control_demo_example_10 PUBLIC cxx_std_17)
target_include_directories(ros2_control_demo_example_10 PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controllers/include>
$<INSTALL_INTERFACE:include/ros2_control_demo_example_10>
)
ament_target_dependencies(
Expand All @@ -54,18 +51,12 @@ ament_target_dependencies(

# Export hardware plugins
pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_10.xml)
# Export controllers
pluginlib_export_plugin_description_file(controller_interface ros2_control_demo_example_10.xml)

# INSTALL
install(
DIRECTORY hardware/include/
DESTINATION include/ros2_control_demo_example_10
)
install(
DIRECTORY controllers/include/
DESTINATION include/ros2_control_demo_example_10
)
install(
DIRECTORY description/launch description/ros2_control description/urdf
DESTINATION share/ros2_control_demo_example_10
Expand Down
20 changes: 11 additions & 9 deletions example_10/bringup/config/rrbot_controllers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,14 @@ forward_position_controller:

gpio_controller:
ros__parameters:
type: ros2_control_demo_example_10/GPIOController
inputs:
- flange_analog_IOs/analog_output1
- flange_analog_IOs/analog_input1
- flange_analog_IOs/analog_input2
- flange_vacuum/vacuum
outputs:
- flange_analog_IOs/analog_output1
- flange_vacuum/vacuum
type: gpio_controllers/GpioCommandController
gpios:
- flange_analog_IOs
- flange_vacuum
command_interfaces:
flange_analog_IOs:
- interfaces:
- analog_output1
flange_vacuum:
- interfaces:
- vacuum
151 changes: 0 additions & 151 deletions example_10/controllers/gpio_controller.cpp
View file
Open in desktop

This file was deleted.

70 changes: 0 additions & 70 deletions example_10/controllers/include/ros2_control_demo_example_10/gpio_controller.hpp
View file
Open in desktop

This file was deleted.

Loading
Loading