Skip to content

Commit

Permalink
Rename folders: panther_system -> robot_system
Browse files Browse the repository at this point in the history
  • Loading branch information
@rafal-gorecki
rafal-gorecki committed Oct 2, 2024
1 parent 3ed0140 commit ca4a238
Show file tree
Hide file tree
Showing 51 changed files with 230 additions and 230 deletions.
2 changes: 1 addition & 1 deletion ROS_API.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ Below is information about the physical robot API. For the simulation, topics an
| 🤖🖥️ | `controller_manager` | The Controller Manager performs two main functions. First, it manages controllers and their required interfaces, handling tasks like loading, activating, deactivating, and unloading. Second, it interacts with hardware components, ensuring access to their interfaces. This node manages the: `imu_broadcaster`, `joint_state_broadcaster`, `drive_controller`. <br/> *[controller_manager/controller_manager](https://github.com/ros-controls/ros2_control/blob/master/controller_manager)* |
| 🤖🖥️ | `drive_controller` | Manages mobile robots with a differential or mecanum drive depending on the configuration. It converts velocity commands for the robot body into wheel commands for the base. It also calculates odometry from hardware feedback and shares it. <br/> *[diff_drive_controller/diff_drive_controller](https://github.com/ros-controls/ros2_controllers/tree/master/diff_drive_controller) or [mecanum_drive_controller/mecanum_drive_controller](https://github.com/husarion/husarion_controllers/tree/main/mecanum_drive_controller)* |
| 🤖🖥️ | `ekf_filter` | The Extended Kalman Filter node is designed to fuse odometry data from various sources, including wheel encoders, IMU, and GPS. <br/> *[robot_localization/ekf_filter](https://github.com/cra-ros-pkg/robot_localization)* |
| 🤖 | `hardware_controller` | Plugin responsible for communicating with engine controllers via the CAN bus and providing E-Stop functionalities. <br/> *[husarion_ugv_hardware_interfaces/{robot_model}System](./husarion_ugv_hardware_interfaces/src/panther_system/)* |
| 🤖 | `hardware_controller` | Plugin responsible for communicating with engine controllers via the CAN bus and providing E-Stop functionalities. <br/> *[husarion_ugv_hardware_interfaces/{robot_model}System](./husarion_ugv_hardware_interfaces/src/robot_system/)* |
| 🤖 | `gps` | Node responsible for parsing NMEA strings and publishing standard ROS NavSat message types. <br/> *[nmea_navsat_driver/nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2/src/libnmea_navsat_driver)* |
| 🖥️ | `gz_ros2_control` | Responsible for integrating the ros2_control controller architecture with the Gazebo simulator. <br/> [gz_ros2_control/gz_ros2_control](https://github.com/ros-controls/gz_ros2_control/tree/master/gz_ros2_control/src) |
| 🖥️ | `gz_estop_gui` | The node is part of the Gazebo GUI plugin, enabling easy E-stop state modifications directly within the simulation. <br/> [husarion_ugv_gazebo/EStop](./husarion_ugv_gazebo/src/gui/e_stop.cpp) |
Expand Down
164 changes: 82 additions & 82 deletions husarion_ugv_hardware_interfaces/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -53,20 +53,20 @@ pkg_check_modules(LIBGPIOD REQUIRED IMPORTED_TARGET libgpiodcxx)
add_library(
${PROJECT_NAME} SHARED
src/phidget_imu_sensor/phidget_imu_sensor.cpp
src/panther_system/gpio/gpio_controller.cpp
src/panther_system/gpio/gpio_driver.cpp
src/panther_system/robot_driver/canopen_manager.cpp
src/panther_system/robot_driver/roboteq_data_converters.cpp
src/panther_system/robot_driver/roboteq_driver.cpp
src/panther_system/robot_driver/roboteq_error_filter.cpp
src/panther_system/robot_driver/roboteq_robot_driver.cpp
src/panther_system/robot_driver/lynx_robot_driver.cpp
src/panther_system/robot_driver/panther_robot_driver.cpp
src/panther_system/system_e_stop.cpp
src/panther_system/system_ros_interface.cpp
src/panther_system/lynx_system.cpp
src/panther_system/panther_system.cpp
src/panther_system/ugv_system.cpp
src/robot_system/gpio/gpio_controller.cpp
src/robot_system/gpio/gpio_driver.cpp
src/robot_system/robot_driver/canopen_manager.cpp
src/robot_system/robot_driver/roboteq_data_converters.cpp
src/robot_system/robot_driver/roboteq_driver.cpp
src/robot_system/robot_driver/roboteq_error_filter.cpp
src/robot_system/robot_driver/roboteq_robot_driver.cpp
src/robot_system/robot_driver/lynx_robot_driver.cpp
src/robot_system/robot_driver/panther_robot_driver.cpp
src/robot_system/system_e_stop.cpp
src/robot_system/system_ros_interface.cpp
src/robot_system/lynx_system.cpp
src/robot_system/panther_system.cpp
src/robot_system/ugv_system.cpp
src/utils.cpp)
ament_target_dependencies(${PROJECT_NAME} ${PACKAGE_DEPENDENCIES})
target_link_libraries(${PROJECT_NAME} PkgConfig::LIBLELY_COAPP
Expand Down Expand Up @@ -106,13 +106,13 @@ if(BUILD_TESTING)

ament_add_gtest(
${PROJECT_NAME}_test_roboteq_error_filter
test/unit/panther_system/robot_driver/test_roboteq_error_filter.cpp
src/panther_system/robot_driver/roboteq_error_filter.cpp)
test/unit/robot_system/robot_driver/test_roboteq_error_filter.cpp
src/robot_system/robot_driver/roboteq_error_filter.cpp)

ament_add_gtest(
${PROJECT_NAME}_test_roboteq_data_converters
test/unit/panther_system/robot_driver/test_roboteq_data_converters.cpp
src/panther_system/robot_driver/roboteq_data_converters.cpp src/utils.cpp)
test/unit/robot_system/robot_driver/test_roboteq_data_converters.cpp
src/robot_system/robot_driver/roboteq_data_converters.cpp src/utils.cpp)
target_include_directories(
${PROJECT_NAME}_test_roboteq_data_converters
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test>
Expand All @@ -124,8 +124,8 @@ if(BUILD_TESTING)

ament_add_gtest(
${PROJECT_NAME}_test_canopen_manager
test/unit/panther_system/robot_driver/test_canopen_manager.cpp
src/panther_system/robot_driver/canopen_manager.cpp src/utils.cpp)
test/unit/robot_system/robot_driver/test_canopen_manager.cpp
src/robot_system/robot_driver/canopen_manager.cpp src/utils.cpp)
target_include_directories(
${PROJECT_NAME}_test_canopen_manager
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test>
Expand All @@ -137,9 +137,9 @@ if(BUILD_TESTING)

ament_add_gtest(
${PROJECT_NAME}_test_roboteq_driver
test/unit/panther_system/robot_driver/test_roboteq_driver.cpp
src/panther_system/robot_driver/canopen_manager.cpp
src/panther_system/robot_driver/roboteq_driver.cpp
test/unit/robot_system/robot_driver/test_roboteq_driver.cpp
src/robot_system/robot_driver/canopen_manager.cpp
src/robot_system/robot_driver/roboteq_driver.cpp
src/utils.cpp)
target_include_directories(
${PROJECT_NAME}_test_roboteq_driver
Expand All @@ -152,11 +152,11 @@ if(BUILD_TESTING)

ament_add_gmock(
${PROJECT_NAME}_test_roboteq_robot_driver
test/unit/panther_system/robot_driver/test_roboteq_robot_driver.cpp
src/panther_system/robot_driver/canopen_manager.cpp
src/panther_system/robot_driver/roboteq_driver.cpp
src/panther_system/robot_driver/roboteq_data_converters.cpp
src/panther_system/robot_driver/roboteq_robot_driver.cpp
test/unit/robot_system/robot_driver/test_roboteq_robot_driver.cpp
src/robot_system/robot_driver/canopen_manager.cpp
src/robot_system/robot_driver/roboteq_driver.cpp
src/robot_system/robot_driver/roboteq_data_converters.cpp
src/robot_system/robot_driver/roboteq_robot_driver.cpp
src/utils.cpp)
target_include_directories(
${PROJECT_NAME}_test_roboteq_robot_driver
Expand All @@ -169,12 +169,12 @@ if(BUILD_TESTING)

ament_add_gmock(
${PROJECT_NAME}_test_lynx_robot_driver
test/unit/panther_system/robot_driver/test_lynx_robot_driver.cpp
src/panther_system/robot_driver/canopen_manager.cpp
src/panther_system/robot_driver/roboteq_driver.cpp
src/panther_system/robot_driver/roboteq_data_converters.cpp
src/panther_system/robot_driver/roboteq_robot_driver.cpp
src/panther_system/robot_driver/lynx_robot_driver.cpp
test/unit/robot_system/robot_driver/test_lynx_robot_driver.cpp
src/robot_system/robot_driver/canopen_manager.cpp
src/robot_system/robot_driver/roboteq_driver.cpp
src/robot_system/robot_driver/roboteq_data_converters.cpp
src/robot_system/robot_driver/roboteq_robot_driver.cpp
src/robot_system/robot_driver/lynx_robot_driver.cpp
src/utils.cpp)
target_include_directories(
${PROJECT_NAME}_test_lynx_robot_driver
Expand All @@ -187,12 +187,12 @@ if(BUILD_TESTING)

ament_add_gmock(
${PROJECT_NAME}_test_panther_robot_driver
test/unit/panther_system/robot_driver/test_panther_robot_driver.cpp
src/panther_system/robot_driver/canopen_manager.cpp
src/panther_system/robot_driver/roboteq_driver.cpp
src/panther_system/robot_driver/roboteq_data_converters.cpp
src/panther_system/robot_driver/roboteq_robot_driver.cpp
src/panther_system/robot_driver/panther_robot_driver.cpp
test/unit/robot_system/robot_driver/test_panther_robot_driver.cpp
src/robot_system/robot_driver/canopen_manager.cpp
src/robot_system/robot_driver/roboteq_driver.cpp
src/robot_system/robot_driver/roboteq_data_converters.cpp
src/robot_system/robot_driver/roboteq_robot_driver.cpp
src/robot_system/robot_driver/panther_robot_driver.cpp
src/utils.cpp)
target_include_directories(
${PROJECT_NAME}_test_panther_robot_driver
Expand All @@ -205,20 +205,20 @@ if(BUILD_TESTING)

ament_add_gmock(
${PROJECT_NAME}_test_gpiod_controller
test/panther_system/gpio/test_gpio_controller.cpp
src/panther_system/gpio/gpio_controller.cpp
src/panther_system/gpio/gpio_driver.cpp)
test/robot_system/gpio/test_gpio_controller.cpp
src/robot_system/gpio/gpio_controller.cpp
src/robot_system/gpio/gpio_driver.cpp)
ament_target_dependencies(${PROJECT_NAME}_test_gpiod_controller
husarion_ugv_utils)
target_link_libraries(${PROJECT_NAME}_test_gpiod_controller
PkgConfig::LIBGPIOD)

ament_add_gtest(
${PROJECT_NAME}_test_system_ros_interface
test/unit/panther_system/test_system_ros_interface.cpp
src/panther_system/system_ros_interface.cpp
src/panther_system/robot_driver/roboteq_data_converters.cpp
src/panther_system/gpio/gpio_controller.cpp
test/unit/robot_system/test_system_ros_interface.cpp
src/robot_system/system_ros_interface.cpp
src/robot_system/robot_driver/roboteq_data_converters.cpp
src/robot_system/gpio/gpio_controller.cpp
src/utils.cpp)
target_include_directories(
${PROJECT_NAME}_test_system_ros_interface
Expand All @@ -237,14 +237,14 @@ if(BUILD_TESTING)

ament_add_gmock(
${PROJECT_NAME}_test_ugv_system
test/unit/panther_system/test_ugv_system.cpp
src/panther_system/gpio/gpio_controller.cpp
src/panther_system/gpio/gpio_driver.cpp
src/panther_system/system_e_stop.cpp
src/panther_system/robot_driver/roboteq_data_converters.cpp
src/panther_system/robot_driver/roboteq_error_filter.cpp
src/panther_system/system_ros_interface.cpp
src/panther_system/ugv_system.cpp
test/unit/robot_system/test_ugv_system.cpp
src/robot_system/gpio/gpio_controller.cpp
src/robot_system/gpio/gpio_driver.cpp
src/robot_system/system_e_stop.cpp
src/robot_system/robot_driver/roboteq_data_converters.cpp
src/robot_system/robot_driver/roboteq_error_filter.cpp
src/robot_system/system_ros_interface.cpp
src/robot_system/ugv_system.cpp
src/utils.cpp)
set_tests_properties(${PROJECT_NAME}_test_ugv_system PROPERTIES TIMEOUT 120)
target_include_directories(
Expand All @@ -265,19 +265,19 @@ if(BUILD_TESTING)

ament_add_gmock(
${PROJECT_NAME}_test_lynx_system
test/unit/panther_system/test_lynx_system.cpp
src/panther_system/gpio/gpio_controller.cpp
src/panther_system/gpio/gpio_driver.cpp
src/panther_system/system_e_stop.cpp
src/panther_system/robot_driver/canopen_manager.cpp
src/panther_system/robot_driver/roboteq_robot_driver.cpp
src/panther_system/robot_driver/roboteq_data_converters.cpp
src/panther_system/robot_driver/roboteq_driver.cpp
src/panther_system/robot_driver/roboteq_error_filter.cpp
src/panther_system/robot_driver/lynx_robot_driver.cpp
src/panther_system/system_ros_interface.cpp
src/panther_system/lynx_system.cpp
src/panther_system/ugv_system.cpp
test/unit/robot_system/test_lynx_system.cpp
src/robot_system/gpio/gpio_controller.cpp
src/robot_system/gpio/gpio_driver.cpp
src/robot_system/system_e_stop.cpp
src/robot_system/robot_driver/canopen_manager.cpp
src/robot_system/robot_driver/roboteq_robot_driver.cpp
src/robot_system/robot_driver/roboteq_data_converters.cpp
src/robot_system/robot_driver/roboteq_driver.cpp
src/robot_system/robot_driver/roboteq_error_filter.cpp
src/robot_system/robot_driver/lynx_robot_driver.cpp
src/robot_system/system_ros_interface.cpp
src/robot_system/lynx_system.cpp
src/robot_system/ugv_system.cpp
src/utils.cpp)
set_tests_properties(${PROJECT_NAME}_test_lynx_system PROPERTIES TIMEOUT 120)
target_include_directories(
Expand All @@ -298,19 +298,19 @@ if(BUILD_TESTING)

ament_add_gmock(
${PROJECT_NAME}_test_panther_system
test/unit/panther_system/test_panther_system.cpp
src/panther_system/gpio/gpio_controller.cpp
src/panther_system/gpio/gpio_driver.cpp
src/panther_system/system_e_stop.cpp
src/panther_system/robot_driver/canopen_manager.cpp
src/panther_system/robot_driver/roboteq_robot_driver.cpp
src/panther_system/robot_driver/roboteq_data_converters.cpp
src/panther_system/robot_driver/roboteq_driver.cpp
src/panther_system/robot_driver/roboteq_error_filter.cpp
src/panther_system/robot_driver/panther_robot_driver.cpp
src/panther_system/system_ros_interface.cpp
src/panther_system/panther_system.cpp
src/panther_system/ugv_system.cpp
test/unit/robot_system/test_panther_system.cpp
src/robot_system/gpio/gpio_controller.cpp
src/robot_system/gpio/gpio_driver.cpp
src/robot_system/system_e_stop.cpp
src/robot_system/robot_driver/canopen_manager.cpp
src/robot_system/robot_driver/roboteq_robot_driver.cpp
src/robot_system/robot_driver/roboteq_data_converters.cpp
src/robot_system/robot_driver/roboteq_driver.cpp
src/robot_system/robot_driver/roboteq_error_filter.cpp
src/robot_system/robot_driver/panther_robot_driver.cpp
src/robot_system/system_ros_interface.cpp
src/robot_system/panther_system.cpp
src/robot_system/ugv_system.cpp
src/utils.cpp)
set_tests_properties(${PROJECT_NAME}_test_panther_system PROPERTIES TIMEOUT
120)
Expand All @@ -333,7 +333,7 @@ if(BUILD_TESTING)
# Integration tests option(TEST_INTEGRATION "Run integration tests" OFF)
if(TEST_INTEGRATION) # Hardware integration
ament_add_gtest(${PROJECT_NAME}_test_gpiod_driver
test/panther_system/gpio/test_gpio_driver.cpp)
test/robot_system/gpio/test_gpio_driver.cpp)
ament_target_dependencies(${PROJECT_NAME}_test_gpiod_driver
husarion_ugv_utils)
target_link_libraries(${PROJECT_NAME}_test_gpiod_driver ${PROJECT_NAME}
Expand Down
10 changes: 5 additions & 5 deletions ...s/panther_system/gpio/gpio_controller.hpp → ...ces/robot_system/gpio/gpio_controller.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,8 @@
* @brief Header file containing a higher-level wrapper for the GPIO driver.
*/

#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_GPIO_GPIO_CONTROLLER_HPP_
#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_GPIO_GPIO_CONTROLLER_HPP_
#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_GPIO_GPIO_CONTROLLER_HPP_
#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_GPIO_GPIO_CONTROLLER_HPP_

#include <atomic>
#include <functional>
Expand All @@ -31,8 +31,8 @@

#include "husarion_ugv_utils/common_utilities.hpp"

#include "husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_driver.hpp"
#include "husarion_ugv_hardware_interfaces/panther_system/gpio/types.hpp"
#include "husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_driver.hpp"
#include "husarion_ugv_hardware_interfaces/robot_system/gpio/types.hpp"

namespace husarion_ugv_hardware_interfaces
{
Expand Down Expand Up @@ -421,4 +421,4 @@ class GPIOControllerFactory

} // namespace husarion_ugv_hardware_interfaces

#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_GPIO_GPIO_CONTROLLER_HPP_
#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_GPIO_GPIO_CONTROLLER_HPP_
8 changes: 4 additions & 4 deletions ...faces/panther_system/gpio/gpio_driver.hpp → ...erfaces/robot_system/gpio/gpio_driver.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_GPIO_GPIO_DRIVER_HPP_
#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_GPIO_GPIO_DRIVER_HPP_
#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_GPIO_GPIO_DRIVER_HPP_
#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_GPIO_GPIO_DRIVER_HPP_

#include <atomic>
#include <condition_variable>
Expand All @@ -29,7 +29,7 @@

#include "gpiod.hpp"

#include "husarion_ugv_hardware_interfaces/panther_system/gpio/types.hpp"
#include "husarion_ugv_hardware_interfaces/robot_system/gpio/types.hpp"

namespace husarion_ugv_hardware_interfaces
{
Expand Down Expand Up @@ -249,4 +249,4 @@ class GPIODriver : public GPIODriverInterface

} // namespace husarion_ugv_hardware_interfaces

#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_GPIO_GPIO_DRIVER_HPP_
#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_GPIO_GPIO_DRIVER_HPP_
6 changes: 3 additions & 3 deletions ..._interfaces/panther_system/gpio/types.hpp → ...re_interfaces/robot_system/gpio/types.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_GPIO_TYPES_HPP_
#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_GPIO_TYPES_HPP_
#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_GPIO_TYPES_HPP_
#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_GPIO_TYPES_HPP_

#include <map>
#include <string>
Expand Down Expand Up @@ -85,4 +85,4 @@ struct GPIOInfo

} // namespace husarion_ugv_hardware_interfaces

#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_GPIO_TYPES_HPP_
#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_GPIO_TYPES_HPP_
Loading

0 comments on commit ca4a238

Please sign in to comment.