husarion_ugv_hardware_interfaces

Package that implements SystemInterface from ros2_control for Husarion UGV.

ROS Nodes

This package doesn’t contain any standalone nodes, only plugins that are loaded by the resource manager. To use this hardware interface, add it to your URDF. You can check how to do it in panther_macro.urdf.xacro or lynx_macro.urdf.xacro.

UGVSystem (PantherSystem | LynxSystem)

Plugins for Panther and Lynx are based on an abstraction called UGVSystem. Most parts of both systems are similar and are described below. Each plugin is responsible for communicating with engine controllers via the CAN bus, providing E-Stop functionality, and managing the built-in computer’s GPIO ports.

Publishers

• diagnostics [diagnostic_msgs/DiagnosticArray]: System diagnostic messages.
• hardware/e_stop [std_msgs/Bool]: Current E-stop state.
• hardware/io_state [husarion_ugv_msgs/IOState]: Current IO state.
• hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: Current motor controllers’ state and error flags.

Service Servers

• hardware/aux_power_enable [std_srvs/SetBool]: Enables or disables AUX power.
• hardware/charger_enable [std_srvs/SetBool]: Enables or disables charger.
• hardware/digital_power_enable [std_srvs/SetBool]: Enables or disables digital power.
• hardware/e_stop_reset [std_srvs/Trigger]: Resets E-stop.
• hardware/e_stop_trigger [std_srvs/Trigger]: Triggers E-stop.
• hardware/fan_enable [std_srvs/SetBool]: Enables or disables fan.
• hardware/led_control_enable [std_srvs/SetBool]: Enables or disables SBC (Single Board Computer) control over the LEDs.
• hardware/motor_torque_enable [std_srvs/SetBool]: Allows to enable/disable motor torque when the E-Stop is triggered.

Parameters

Required parameters are defined when including the interface in the URDF (you can check out panther_macro.urdf.xacro or lynx_macro.urdf.xacro).

Physical properties

• encoder_resolution [int, default: 1600]: Property of the encoder used, shouldn’t be changed.
• gear_ratio [float, default: 30.08]: Property of the gearbox used, shouldn’t be changed.
• motor_torque_constant [float, default: 0.11]: Same as set in the Roboteq driver (TNM parameter), also shouldn’t be changed, as it is measured property of the motor.
• max_rpm_motor_speed [float, default: 3600.0]: Max RPM speed set in the Roboteq driver (MXRPM parameter).
• gearbox_efficiency [float, default: 0.75]: Measured efficiency, used for converting read current to torque, can vary depending on different factors such as temperature and wear.

CAN settings

• can_interface_name [string, default: robot_can]: Name of the CAN interface.
• master_can_id [int, default: 3]: CAN ID of the master device (set as in canopen_configuration.yaml).
• sdo_operation_timeout_ms [int, default: 100]: Timeout of the SDO operations, currently no SDO operation is required in RT operation, so this timeout can be set to a higher value.
• pdo_motor_states_timeout_ms [int, default: 15]: Depends on the frequency at which Roboteq is configured to send motor states (PDO 1 and 2) data. By default, there should be 10 [ms] between received data, if it takes more than pdo_motor_states_timeout_ms, a motor states read error is triggered. The default value is set to be expected period +50% margin.
• pdo_driver_state_timeout_ms [int, default: 75]: Depends on the frequency at which Roboteq is configured to send driver state (PDO 3 and 4) data. By default, there should be 50 [ms] between received data, if it takes more than pdo_driver_state_timeout_ms, a driver state read error is triggered. The default value is set to be expected period +50% margin.
• driver_states_update_frequency [float, default: 20.0]: As by default, the driver state is published with lower frequency, it also shouldn’t be updated with every controller loop iteration. The exact frequency at which driver state is published won’t match this value - it will also depend on the frequency of the controller (the exact value of the period can be calculated with the following formula controller_frequency / ceil(controller_frequency / driver_states_update_frequency)).
• max_roboteq_initialization_attempts [int, default: 5]: In some cases, an SDO error can happen during initialization, it is possible to configure more attempts, before escalating to a general error.
• max_roboteq_activation_attempts [int, default: 5]: Similar to initialization, it is possible to allow some SDO errors before escalating to error.
• max_write_pdo_cmds_errors_count [int, default: 2]: How many consecutive errors can happen before escalating to general error.
• max_read_pdo_motor_states_errors_count [int, default: 2]: How many consecutive errors can happen before escalating to general error.
• max_read_pdo_driver_state_errors_count [int, default: 2]: How many consecutive errors can happen before escalating to general error.

PantherSystem additional CAN settings

• front_driver_can_id [int, default: 1]: CAN ID defined in the properties of Roboteq (set as in canopen_configuration.yaml).
• rear_driver_can_id [int, default: 2, Required only for PantherSystem]: CAN ID defined in the properties of Roboteq (set as in canopen_configuration.yaml).

LynxSystem additional CAN settings

• driver_can_id [int, default: 1]: CAN ID defined in the properties of Roboteq (set as in canopen_configuration.yaml).

[!CAUTION] max_write_pdo_cmds_errors_count, max_read_pdo_motor_states_errors_count, max_read_pdo_driver_state_errors_count, sdo_operation_timeout, pdo_motor_states_timeout_ms and pdo_driver_state_timeout_ms are safety-critical parameters, they should be changed only in very specific cases, be sure that you know how they work and be really cautious when changing them.

PhidgetImuSensor

Plugin responsible for communicating with IMU and filtering data using Madgwick Filter.

Parameters

Required parameters are defined when including the interface in the URDF (you can check out panther_macro.urdf.xacro or lynx_macro.urdf.xacro).

Physical properties

• serial [int, default: -1]: The serial number of the Phidgets Spatial to connect to. If -1 (the default), connects to any Spatial Phidget that can be found.
• hub_port [int, default: 0]: The Phidgets VINT hub port to connect to. Only used if the Spatial Phidget is connected to a VINT hub. Defaults to 0.
• heating_enabled [bool, default: false]: Use the internal heating element; just available on MOT0109 onwards. Do not set this parameter for older versions.
• time_resynchronization_interval_ms [int, default: 5000]: The number of milliseconds to wait between resynchronizing the time on the Phidgets Spatial with the local time. Larger values have less ‘jumps’, but will have more timestamp drift. Setting this to 0 disables resynchronization. Defaults to 5000 ms.
• data_interval_ms [int, default: 8]: The number of milliseconds between acquisitions of data on the device (allowed values are dependent on the device). Defaults to 8 ms.
• callback_delta_epsilon_ms [int, default: 1]: The number of milliseconds epsilon allowed between callbacks when attempting to resynchronize the time. If this is set to 1, then a difference of data_interval_ms plus or minus 1 millisecond will be considered viable for resynchronization. Higher values give the code more leeway to resynchronize, at the cost of potentially getting bad resynchronizations sometimes. Lower values can give better results, but can also result in never resynchronizing. Must be less than data_interval_ms. Defaults to 1 ms.
• cc_mag_field [double, default: 0.0]: Ambient magnetic field calibration value; see device’s user guide for information on how to calibrate.
• cc_offset0 [double, default: 0.0]: Calibration offset value 0; see device’s user guide for information on how to calibrate.
• cc_offset1 [double, default: 0.0]: Calibration offset value 1; see device’s user guide for information on how to calibrate.
• cc_offset2 [double, default: 0.0]: Calibration offset value 2; see device’s user guide for information on how to calibrate.
• cc_gain0 [double, default: 0.0]: Gain offset value 0; see device’s user guide for information on how to calibrate.
• cc_gain1 [double, default: 0.0]: Gain offset value 1; see device’s user guide for information on how to calibrate.
• cc_gain2 [double, default: 0.0]: Gain offset value 2; see device’s user guide for information on how to calibrate.
• cc_t0 [double, default: 0.0]: T offset value 0; see device’s user guide for information on how to calibrate.
• cc_t1 [double, default: 0.0]: T offset value 1; see device’s user guide for information on how to calibrate.
• cc_t2 [double, default: 0.0]: T offset value 2; see device’s user guide for information on how to calibrate.
• cc_t3 [double, default: 0.0]: T offset value 3; see device’s user guide for information on how to calibrate.
• cc_t4 [double, default: 0.0]: T offset value 4; see device’s user guide for information on how to calibrate.
• cc_t5 [double, default: 0.0]: T offset value 5; see device’s user guide for information on how to calibrate.

Madgwick filter settings

• use_mag [bool, default: false]: Use magnitude to calculate orientation.
• gain [double, default: 0.1]: Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal.
• zeta [double, default: 0.1]: Gyro drift gain (approx. rad/s).
• mag_bias_x [double, default: 0.0]: Magnetometer bias (hard iron correction), x component.
• mag_bias_y [double, default: 0.0]: Magnetometer bias (hard iron correction), y component.
• mag_bias_z [double, default: 0.0]: Magnetometer bias (hard iron correction), z component.
• stateless [bool, default: false]: Use stateless to compute orientation on every data callback without prediction based on previous measurements.
• remove_gravity_vector [bool, default: false]: The gravity vector is kept in the IMU message.

The Madgwick Filter parameters, zeta and gain, are provided in the paper “An efficient orientation filter for inertial and inertial/magnetic sensor arrays”. The Panther robot utilizes the PhidgetSpatial Precision 3/3/3 IMU sensor, with detailed specifications available on the producer’s website.

Gyroscope Noise (@ 1ms) is:

gyroMeasError = 0.2 deg/s = 0.00351 rad/s

Gyroscope Drift Max is:

gyroMeasDrift  = 0.1 deg/s = 0.00175 rad/s

Instructions for computing gain and zeta can be found in the paper.

gain = sqrt(3/4)* gyroMeasError = 0.00303

zeta = sqrt(3/4)* gyroMeasDrift = 0.00151

Code structure

The code structure is described in more detail in a separate file.

Generating CAN config

Adjust your configuration and generate a new master.dcf using: dcfgen canopen_configuration.yaml -r

RT

To configure RT check out the instructions provided in the ros2_control docs (add group and change /etc/security/limits.conf).

Testing

Setup

Since some of the tests create and access a virtual CAN interface, it is necessary to install kmod and iproute2.

sudo apt update
sudo apt install -y kmod iproute2

Running tests

colcon build --packages-select husarion_ugv_hardware_interfaces --symlink-install
colcon test --event-handlers console_direct+ --packages-select husarion_ugv_hardware_interfaces --parallel-workers 1
colcon test-result --verbose --all

As some of the tests are accessing the virtual CAN interface, they can’t be executed in parallel (that’s why --parallel-workers 1 flag).

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_hardware_interfaces \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

• Merge pull request #512 from husarion/ros2-fix-intergration-tests
• fix paths
• Merge pull request #508 from husarion/ros2-enchance-performance
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
• use unordered map
• Improve performance
• Contributors: Dawid Kmak, kmakd

2.2.0 (2025-03-13)

• Fix roboteq robot driver deinitialization (#504)
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
• Merge pull request #496 from husarion/repo-rename
• update links
• Merge branch 'ros2-devel' into lights-new
• Merge pull request #490 from husarion/ros2-fix-bild-warnings
• fix build warnings
• Ros2 unit test workflow (#471)
• Merge pull request #479 from husarion/e_stop_torque_enable
• Change method name
• Rename to motor_torque_enable
• Merge remote-tracking branch 'origin/ros2-devel' into e_stop_torque_enable
• Rename service e_stop_torque_enable
• Add suggestions
• Merge pull request #480 from husarion/ros2-cmake-export
• Add ament_index_cpp dependency
• Add exports to cmake
• use throw to sen failed response
• Ros2 motor enable fix (#478)
• Change logic from [motor_power_enable]{.title-ref} to [e_stop_torque_enable]{.title-ref}
• Remove last new line
• Only fix logs
• Add motor enable set pin function
• Parameters reorganisation (#472)
• Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
• Merge pull request #466 from husarion/ros2-add-msgs
• Merge branch 'ros2-devel' into ros2-add-msgs
• Merge branch 'ros2-devel' into add-panther-diagnostics-config
• husarion_ugv_msg -> husarion_ugv_msgs
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-devel
• Add husarion_ugv_msgs
• Merge pull request #457 from husarion/ros2-lynx-devel
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-lynx-devel
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-lynx-devel
• fix CHRG_DISABLE init state (#447)
• Update gpio controller (#425)
• Ros2 husarion ugv v2 (#422)
• Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

• Ros2 fix led bug (#441)
• Merge branch 'ros2-devel' into ros2-lights-tests
• Contributors: Dawid Kmak, pawelirh

2.1.1 (2024-09-05)

• Merge branch 'ros2-devel' into ros2-ns-refactor
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
• Merge pull request #386 from husarion/ros2-unify-filenames
• Reorganize test utilities in hardware_interfaces
• Minor modifications
• Fix links in documentations (#387)
• Reorganize panther_hardware_interfaces files
• Ros2 estop sim gui (#384)
• Merge branch 'ros2-devel' into ros2-ns-refactor
• unify CMakeLists.txt files (#381)
• unify CMakeLists.txt files
• New format of documentation (#369)
• Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

• Merge pull request #375 from husarion/hotfix-handle-can-timeout
• Decrease throttle interval on update
• Rename CAN communication errors
• Add heartbeat on CAN
• Ros2 system status tf namespace (#372)
• configure heartbeat
• Merge pull request #371 from husarion/bugfix-imu-orientation
• FIx timestamp calculation and implement some minor changes
• Merge pull request #362 from husarion/ros2-api-reorganization
• Minor readme updates
• Enhance ROS API names in the stack
• Add devices symlink (#347)
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, pawelirh

2.0.4 (2024-06-28)

• Merge pull request #337 from husarion/ros2-gz-lights
• ROS 2 e-stop fixes (#348)
• Merge pull request #343 from husarion/ros2-gpio-controller-revision
• Add publishing led_control io state
• Minor changes based on PR review
• Suggestions and pre-commit update
• Add img encoding check
• Update panther_hardware_interfaces/CODE_STRUCTURE.md
• Merge branch 'ros2-devel' into ros2-gz-lights
• Update GPIO controller tests
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-gpio-controller-revision
• Merge branch 'ros2' into ros2-build-in-animation
• Update documentation panther_lights and panther_hardware_interfaces
• Add LED service in panther_system
• Fix test compiling
• Replace namespace
• Move gpio_driver to panther_hardware_interfaces
• Merge branch 'ros2' into ros2-gz-lights
• Contributors: Dawid Kmak, Paweł Irzyk, pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

• Merge pull request #320 from husarion/ros2-clear-logs
• Update panther_hardware_interfaces/src/panther_system.cpp
• Update panther_hardware_interfaces/src/panther_system.cpp
• Update panther_hardware_interfaces/src/panther_system.cpp
• Clarified log message
• Add configuration logs in panther_system
• MInor logging changes
• Exception changes in hardware_interfaces
• Revise panther_battery logs
• Organize logs: panther_system and panther_imu
• Contributors: Dawid Kmak, Paweł Irzyk, pawelirh

2.0.2 (2024-06-05)

• Launch refactor (#307)
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• Removed test with wrong imu name (#305)
• Merge pull request #304 from husarion/ros2-control-fix
• Remove const name
• Merge branch 'ros2' of https://github.com/husarion/panther_ros into ros2-manager-refactor
• Contributors: Dawid, Jakub Delicat, Paweł Irzyk, rafal-gorecki

2.0.1 (2024-05-01)

• Merge pull request #268 from husarion/ros2-add-estop-manager
• Update documentation
• update clean up
• review fixes
• review fixes || remove manager
• fix typo
• Add E-Stop manager
• Ros2 fix imu reconnection (#267)
• Missing URL
• Merge pull request #264 from husarion/ros2-use-absolute-url
• Absolute URL
• Merge pull request #261 from husarion/ros2-readme
• Pawel sugestions
• Merge branch 'ros2-devel' into ros2-readme
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-os-diagnostics
• Ros2 control imu hardware (#236)
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-os-diagnostics
• Added working node
• Contributors: Jakub Delicat, Paweł Irzyk, Paweł Kowalski, pawelirh, rafal-gorecki

2.0.0 (2024-03-29)

• Merge pull request #258 from husarion/ros2-control-fix-err-flag-reset ROS 2- Fix Error Clearing Mechanism for Roboteq Controllers
• fixes for pth 1.06
• update brief
• move PDO operations to wrapper function
• fix clearing errors
• Merge pull request #257 from husarion/ros2-headers Divide Headers into std and local liblaries
• Group and order improvement
• ROS 2 - Add GPIOController Tests (#247)
  • undo test remove
  • move GPIOController to another branch :p
  • add GPIOController tests
  • review fixes
  • small fixes
  • fix formatting
• Ros2 control add tests (#253)
  • undo test remove
  • move GPIOController to another branch :p
  • fix build and typos
  • Fix test naming
  • fix tests
  • clean up code

  * fix includes ---------Co-authored-by: Paweł Kowalski <<kowalski.pawel.r@gmail.com>>

• Rest of fils
• Headers + Copyright
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager
• Merge pull request #254 from husarion/ros2-liblely-disable-debug-logs ROS 2 disable liblely debug logs
• Define [NDEBUG]{.title-ref} macro
• ROS 2 - Fix estop threads (#249)
  • fix header stamp and qos
  • add MultiThreadedExecutor
  • Add compatibility with PTH 1.06
  • small fixes
  • review fixes
  • Disable CAN usage for EStop trigger on PTH >= 1.2"
  • fix typo
• Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager
• fix qos (#250)
• Merge pull request #240 from husarion/ekf_optimalization Ekf optimalization
• Merge branch 'ros2-devel' into ros2-ekf-optimalization
• Merge branch 'ros2-devel' into ros2-lights-tests
• Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager
• Change relative to abs speed frame
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins
• update params (#243)
• Merge pull request #245 from husarion/ros2-fix-roboteq-battery ROS 2 - Fix Roboteq Battery
• fix header stamp and qos
• Ros2 lights controller (#241)
  • ROS 2 lights animations (#221)
  • add animation and image_animation class
  • controller node and pluginlib
  • add tests and fix issues
  • add animation images
  • add alpha channel
  • add charging animation with tests
  • update dummy controller
  • fix missing includes
  • add missing dep

  * Update panther_lights/include/panther_lights/animation/animation.hpp Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> * Update panther_lights/include/panther_lights/animation/animation.hpp Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>>

  • review changes

  * update tests ---------Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>>

  • ROS 2 lights converter (#223)
  • add led_segment
  • WIP led_panel and segment converter
  • simplify converter
  • update segment conversion
  • add test for led panel, segment, and converter
  • review fixes
  • update copyright year
  • update controller so it somehow works
  • Update tests
  • Apply review fixes
  • fix gpio tests
  • parse controller configuration
  • add default animation
  • add yaml_utils to panther_utils
  • add led animation and queue
  • Fix queuing
  • fix bug
  • priority and timeout queue validation
  • move queue to separate file
  • add briefs
  • param and brightness handle
  • user animations, bugs, briefs
  • use yaml utils
  • fix tests
  • update tests
  • add led_animation test
  • test fixxes
  • add led animations queue tests
  • clean up code | clean up code
  • Update documentation | add launching controller node
  • make it work
  • update scheduler

  * Update panther_lights/LIGHTS_API.md Co-authored-by: Paweł Irzyk <<108666440+pawelirh@users.noreply.github.com>>

  • review fixes
  • update pre-commit and fix typos

  * Update panther_bringup/README.md Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>> * Update panther_hardware_interfaces/README.md Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>> * Update panther_lights/README.md Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>> * Update panther_lights/test/test_controller_node.cpp Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>>

  • review fixes

  * Update README.md ---------Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> Co-authored-by: Paweł Irzyk <<108666440+pawelirh@users.noreply.github.com>> Co-authored-by: rafal-gorecki <<126687345+rafal-gorecki@users.noreply.github.com>>

• Merge pull request #242 from husarion/ros2-fix-pointers-loop ROS2 - Fix Pointer Cyclic Dependencies
• fix pointer cyclic dependencies
• ROS2 - Fix Power Motor Service (#238)
  • add new functionality
  • review fixes
• ROS 2 control liblely instalation (#239)
  • install liblely with cmake
  • simplify instalation
  • fix condition
  • add super build
  • libgpiod super build
  • remove obsolate info
  • add missing PKG_CONFIG_PATH
• Ros2 diagnostics hardware interfaces (#231)
  • add GPIO controller
  • Basic integration of gpio controller and panther system
  • [WIP] Add panther version
  • add io state topic
  • Remove unnecessary parts from cmakelists
  • Cleanup gpio controller
  • Add estop to panther system
  • Add todo comment
  • Add ServiceWrapper
  • Add estop services
  • Add remaps to ros2 control
  • Add publishing estop state, change iostate to latched and fix publishing initial state
  • revise e-stop logic in initial stage
  • same, but in better way
  • small changes
  • remove clear_errors service
  • Fix test
  • Add resetting gpio controller
  • Change wheel separation multiplier to 1.0
  • fix pin names list
  • add robot version check before GPIO read
  • Change lock in gpio driver
  • Fix order in cmakelists
  • Change throws to exception in briefs
  • Remove unnecessary includes
  • Fix controller_manager topic remaps
  • Add checking if last commands were 0 before resetting estop
  • Change estop variable to atomic bool
  • Add motor controller mutex
  • Change order of operations when setting estop
  • Fix order of methods
  • Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs
  • Remove max_safety_stop_attempts (no longer needed after adding gpio controller)
  • Refactor setting estop in write method
  • Fix estop naming convention
  • Remove old todos
  • Fix typo
  • Review fixes
  • fix formatting

  * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

  • review fixes
  • rename some methods
  • draft of InitializeAndPublishIOStateMsg functionality
  • Initialize diagnostic updater
  • Update docs
  • fix io_state topic
  • fix service warappers
  • small fix
  • Add missing dependencies
  • Implement diagnostics tasks
  • Add header file to panther_system
  • Add get map methods
  • Add utilities and tests
  • Fix mistaken removal
  • Fix method order

  * Update panther_hardware_interfaces/README.md Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_hardware_interfaces/src/panther_system.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_hardware_interfaces/src/panther_system.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_hardware_interfaces/src/panther_system.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_hardware_interfaces/src/roboteq_data_converters.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_utils/include/panther_utils/common_utilities.hpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_utils/include/panther_utils/diagnostics.hpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_utils/test/test_common_utilities.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Update panther_utils/test/test_diagnostics.cpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>> * Add additional test in test_diagnostics ---------Co-authored-by: Paweł Kowalski <<kowalski.pawel.r@gmail.com>> Co-authored-by: Maciej Stępień <<maciej.stepien@husarion.com>> Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

• Merge pull request #233 from husarion/ros2-update-service-wrapper ROS 2 - Update Service Wrapper
• review fixes
• update service wrapper
• Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller
• Merge pull request #208 from husarion/ros2-control Add ROS 2 control
• Temporarily remove tests tests were moved to ros2-control-add-tests branch and should be merged after additional review process
• Add GPIO controller (#222)
  • add GPIO controller
  • Basic integration of gpio controller and panther system
  • [WIP] Add panther version
  • add io state topic
  • Remove unnecessary parts from cmakelists
  • Cleanup gpio controller
  • Add estop to panther system
  • Add todo comment
  • Add ServiceWrapper
  • Add estop services
  • Add remaps to ros2 control
  • Add publishing estop state, change iostate to latched and fix publishing initial state
  • revise e-stop logic in initial stage
  • same, but in better way
  • small changes
  • remove clear_errors service
  • Fix test
  • Add resetting gpio controller
  • Change wheel separation multiplier to 1.0
  • fix pin names list
  • add robot version check before GPIO read
  • Change lock in gpio driver
  • Fix order in cmakelists
  • Change throws to exception in briefs
  • Remove unnecessary includes
  • Fix controller_manager topic remaps
  • Add checking if last commands were 0 before resetting estop
  • Change estop variable to atomic bool
  • Add motor controller mutex
  • Change order of operations when setting estop
  • Fix order of methods
  • Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs
  • Remove max_safety_stop_attempts (no longer needed after adding gpio controller)
  • Refactor setting estop in write method
  • Fix estop naming convention
  • Remove old todos
  • Fix typo
  • Review fixes
  • fix formatting

  * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

  • review fixes
  • rename some methods
  • draft of InitializeAndPublishIOStateMsg functionality
  • fix io_state topic
  • fix service warappers
  • small fix
  • rewiew fixes
  • add briefs in gpio_controler
  • review fixes

  * small fix ---------Co-authored-by: Paweł Kowalski <<kowalski.pawel.r@gmail.com>> Co-authored-by: Paweł Kowalski <<82044322+pkowalsk1@users.noreply.github.com>> Co-authored-by: Dawid Kmak <<73443304+KmakD@users.noreply.github.com>>

• Merge pull request #219 from husarion/ros2-control-pdo-commands ros2_control PDO commands
• Refactor tests
• CR suggestions - use future in roboteq driver boot
• CR suggestions - change to lock guard and fix locking range
• CR suggestions - move roboteq mock methods implementation
• CR suggestions - move flags reading to a separate variable
• CR suggestions - update readme
• CR suggestions - readme fixes
• Refactor panther system
• CR suggestions
• Remove old todo comment
• Update coment
• Add std to int types
• Update tests
• Merge branch 'ros2-control' into ros2-control-pdo-commands Conflicts: panther_controller/config/WH01_controller.yaml panther_controller/config/WH02_controller.yaml panther_controller/config/WH04_controller.yaml panther_description/urdf/panther_macro.urdf.xacro panther_hardware_interfaces/CMakeLists.txt panther_hardware_interfaces/CODE_STRUCTURE.md panther_hardware_interfaces/README.md panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/motors_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp panther_hardware_interfaces/src/canopen_controller.cpp panther_hardware_interfaces/src/motors_controller.cpp panther_hardware_interfaces/src/panther_system.cpp panther_hardware_interfaces/src/panther_system_ros_interface.cpp panther_hardware_interfaces/src/roboteq_driver.cpp
• CR suggestions - add default FlagError destructor
• CR suggestions - update error msg and refactor checksafetystop method
• CR suggestions - fix consts
• CR suggestions - add exception msg in service
• CR suggestions - fix includes in motor controller
• CR suggestions - update roboteq driver briefs
• CR suggestions - move configureRT to panther_utils
• CR suggestion - create roboteq error filter cpp file for implementations
• CR suggestion - move longer methods to cpp file
• CR suggestions - add package links in readme
• CR suggestions - add tags to readme
• CR suggestions - add more thorough checking of joint names
• CR suggestions - add node name and options parameters
• Move initialization and activation of ros interface to constructor (and destructor)
• Add checking initialization state in canopen and motor controllers
• CR suggestions - make RoboteqCANObjects static
• CR suggestions
• CR suggestion - fix CAN, PDO, SDO, CANopen names
• CR suggestions - add ms to timeouts
• CR suggestions
• Add checking if joint name doesn't contain any reserved sequences (fl fr rr rl)
• Remove unnecessary string literals
• Update roboteq error filter
• CR suggestions
• Move ids and subids of canopen objects into seperate struct
• Update communication parameters
• Update readme
• CR suggestions - fix includes
• Remove todos
• Remove comment and todos
• Remove additional timeout in sdo operations
• Use sdo operation timeout parameter
• Fix naming and update documentation
• Update documentation
• Update ignored runtime errors
• Update volts amps and battery names
• Update log messages
• Change return failure to error (in this cases on_error method should be triggered)
• Fix destroying canopen controller
• Update PDO driver state timeout log
• Switch to loop driver (better performance)
• Fix destroying objects
• Fix spinning in panther system ros interface
• Add configurable driver states update frequency
• Rename eds file
• Merge branch 'ros2-control' into ros2-control-pdo-commands Conflicts: panther_hardware_interfaces/README.md panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp panther_hardware_interfaces/src/motors_controller.cpp panther_hardware_interfaces/src/panther_system.cpp panther_hardware_interfaces/src/roboteq_driver.cpp
• Remove old gpio driver and temporarily comment out tests
• Update whole system to use new pdo communication and add proper timeouts
• Add heatsink temperature
• New pdo configuration
• CR suggestions - use bitset in flag errors
• Change setting init value of flags to just 0
• Fix constant name
• CR suggestions - getbyte as template
• CR suggestions - consts in overridden methods
• CR suggestions - add const to submit write
• CR suggestions - variable name change
• CR suggestions - any of and auto
• CR suggestions - std array
• CR suggestions - change constructor parameter types
• Move additional wait to constant member
• Move can interface name to parameter
• CR suggestions - rename canopen configuration file
• CR suggestions - cstdint types
• Change reading driver state to pdo and update pdo remapping
• Add missing dependencies
• CR suggestions
• Change commands to pdos, update sdo operations and update reading pdos
• Update eds to fw21a and change it to match new sent data
• Update todo comments
• Add warning about safety critical parameters
• Refactor panther system test utils
• Move code structure to separate file
• Refactor setting surpressed flags
• Add set bit utility function
• Decrease wait timeout
• Refactor error filter ids
• Add comment about sdo operation deadlock
• Add comment about can loop error
• Refactor update error msg
• Update todos
• Move service name to constants
• Refactor test_update_system_pdo_feedback_timeout
• Move topic name to constants
• Use WaitForMsg from panther utils
• Add boot timeout test
• Update msgs in boot exceptions
• Add first channel check in safety stop test
• Refactor motor controller state msg - remove joint name and move runtime error
• Update todos
• Refactor updatemsgerrors method
• Refactor locks usage
• Move can error flag to MotorControllerState
• Use wait for msg function from panther utils
• Add plugin name constant
• Refactor test constants naming
• Move settings to constants
• Remove comment
• Fix lock naming
• Add timeout when waiting for boot
• Refactor error filters
• Move setting safetystop, so that it can be set faster in the write function
• Refactor tests
• Fix types and casting in tests
• Remove comments
• Change types from double to float
• Refactor panther system logging and fix throttling
• Grammar fixes
• Refactor tests - add namespace and fix roboteq mock file name
• Refactor test utils
• Refactor - rename panther wheels controller to motors controller and fix order of methods/variables
• Remove comments from roboteq driver
• Refactor - fix include guards
• Refactor - rename variables
• Remove unused variable
• Refactor - change panther system node name to ros interface
• Refactor - fix naming
• Fix roboteq naming
• Make handling exceptions unified
• Update readme
• Refactor tests
• Use typename in templates
• Refactor roboteq driver
• Refactor roboteq driver - separate channel operations
• Precommit changes
• Remove wait in initialization
• Move OperationWithAttempts and add tests
• Fix panther system onerror test
• Add panther system onerror test
• Move setup/teardown to constructor/destructor
• Add wrong order urdf test
• Update comments
• Fix roboteq driver tests
• Add pdo and read sdo timeout tests
• Use atomic_bool type alias
• [WIP] Refactor panther system tests
• Add sdo timeout test and refactor tests
• Refactor and add tests for utils
• [WIP] Update roboteq driver comments
• Add briefs to data converters
• Refactor panther wheels controller
• [WIP] Refactor panther system
• Refactor system node and add tests
• Refactor panther system node and add documentation
• Refactor canopen controller
• Refactor panther system node
• Move panther system node to new files
• [WIP] Refactor panther system
• [WIP] Refactor panther system - move node functionalities to separate class
• [WIP] Refactor panther system
• Refactor error filter
• Refactor can controller
• Add flags and timestamps tests to roboteq driver tests
• [WIP] Add wheels controller tests
• [WIP] Add roboteq driver tests
• Add can controller test
• Update setting wait in roboteq mock
• Refactor - create can_controller class
• Seperate boot errors handling
• Remove old todos
• Remove unnecessary headers
• Update data converters refactor fix voltage calculation
• Add data converters test
• Add parameter description to readme
• [WIP] Update readme
• Fix edge case when multiple sdo operations are queued
• [WIP] Fix system error
• Add operation attempts method
• Remove turn off estop in activation (no longer needed)
• Fix clearing errors
• Add comment
• Change unnecessary uint8_t types
• Make clearing errors multi thread safe
• Fix turn on safety stop
• Add safety stop attempts, fix counter types, fix updating pdo error
• Add safety stop
• Add clear errors service
• Use ptrs from rclcpp
• Fix urdf in tests
• Fix initialization and activation attempts
• Move timeouts and attempts to parameters
• Add old data info to state msg
• Add error log about roboteq errors and refactor flag errors
• Move feedback timeout to parameter
• Fix unique/shared ptrs
• Change default c++ version to 17
• Add more roboteq intialization/activation attempts
• Refactor error handler and add tests
• Add todos
• Increase can thread priority
• Rename methods
• Separate SDO and PDO errors
• Add test urdf with changed order
• Comment out timeout test
• Add todos
• Refactor panther system add error handler and move code to separate functions
• Add hardware interface readme
• Add sdo write timeout test
• Fix setting error and add error to msg
• Add more error handling in initialization
• Update timeouts
• Add sdo read and write error counts (allow some failures before escalating)
• Update feedback timeout
• Fix channel order in tests
• Fix motor order
• Increase sdo timeout
• Update hardware interfaces test readme
• Fix temperature type
• Update initial procedure test
• Update test slave bin (change heartbeat and eds)
• Fix eds version some other version than for firmware 2.1 was used
• Remove comment
• Rename variable
• Remove not used stuff
• Rename data converters
• Read single sdo value every read cycle
• Refactor data conversion
• Remove visibility control (windows is not supported)
• Update encoder disconnected test
• Refactor - move feedback converters, proper error handling
• Rename tests file
• Refactor tests
• Refactor tests - add setup and teardown
• Add waiting for mock start in tests
• [WIP] Refactor tests
• Add initial procedure test
• Add reading roboteq feedback test
• Fix calculating current
• Add encoder disconnected test
• Change function name
• Add reading test
• Add writing test
• Add deactivate unconfigure test
• Remove using namespace lely
• Change io guard to local variable
• Fix deinitialization of panther wheels controller
• Fix memory problems in roboteq mock
• [WIP] Add roboteq mock tests
• Refactor roboteq mock
• Fix temp sdo data type
• Add mock slave configuration
• Add roboteq mock for tests
• Add checking state in test
• Fix handling executor in hardware system
• Add can executor thread join on deinitialize
• Remove unnecessary thread include
• Add panther load system test
• Remove comments
• Rename joint size variable and check if hardware parameters were defined
• Add information when RT can thread is used
• Add safety stop
• Rename and adjust feedback timeout
• Add handling error when reseting roboteq script
• Add turning off estop on activation
• Add triggering estop to on_error
• Add wait timeout
• Fix building
• Update sched priority of can node
• Add reading other roboteq driver feedback
• Refactor checking flags
• Refactor types
• Update sdo communication
• Add comments
• Refactor handling commands and states
• Remove torque control code
• Add todo comments
• Fix handling error flags
• Move roboteq cmd and feedback conversion to roboteq driver
• Add default value
• Add wait for boot and fix handling can exceptions
• Add comments
• Update error handling
• Fix hardware interface
• Add error handling
• [WIP] Refactor
• Refactor
• Fix build
• Add eds config
• Add ros2 control
• Contributors: Dawid, Dawid Kmak, Jakub Delicat, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, pawelirh, rafal-gorecki