diff --git a/ROS_API.md b/ROS_API.md index 322e025d4..6a2be282c 100644 --- a/ROS_API.md +++ b/ROS_API.md @@ -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`.
*[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.
*[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.
*[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.
*[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.
*[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.
*[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.
[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.
[husarion_ugv_gazebo/EStop](./husarion_ugv_gazebo/src/gui/e_stop.cpp) | diff --git a/husarion_ugv_hardware_interfaces/CMakeLists.txt b/husarion_ugv_hardware_interfaces/CMakeLists.txt index 547cd4f50..66d2aeff8 100644 --- a/husarion_ugv_hardware_interfaces/CMakeLists.txt +++ b/husarion_ugv_hardware_interfaces/CMakeLists.txt @@ -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 @@ -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 $ @@ -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 $ @@ -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 @@ -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 @@ -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 @@ -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 @@ -205,9 +205,9 @@ 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 @@ -215,10 +215,10 @@ if(BUILD_TESTING) 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 @@ -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( @@ -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( @@ -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) @@ -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} diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_controller.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_controller.hpp similarity index 97% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_controller.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_controller.hpp index 071b8ff03..f563d2509 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_controller.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_controller.hpp @@ -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 #include @@ -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 { @@ -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_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_driver.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_driver.hpp similarity index 96% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_driver.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_driver.hpp index a1a194a4a..a79b29f99 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_driver.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_driver.hpp @@ -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 #include @@ -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 { @@ -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_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/gpio/types.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/gpio/types.hpp similarity index 91% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/gpio/types.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/gpio/types.hpp index 7aef981fd..987380ba7 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/gpio/types.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/gpio/types.hpp @@ -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 #include @@ -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_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/lynx_system.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/lynx_system.hpp similarity index 84% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/lynx_system.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/lynx_system.hpp index a5d12eb02..40a61823a 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/lynx_system.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/lynx_system.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_LYNX_SYSTEM_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_LYNX_SYSTEM_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_LYNX_SYSTEM_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_LYNX_SYSTEM_HPP_ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/ugv_system.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/ugv_system.hpp" namespace husarion_ugv_hardware_interfaces { @@ -57,4 +57,4 @@ class LynxSystem : public UGVSystem } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_LYNX_SYSTEM_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_LYNX_SYSTEM_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/panther_system.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/panther_system.hpp similarity index 84% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/panther_system.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/panther_system.hpp index ad2a741d7..4fcee2b79 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/panther_system.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/panther_system.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_PANTHER_SYSTEM_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_PANTHER_SYSTEM_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_SYSTEM_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_SYSTEM_HPP_ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/ugv_system.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/ugv_system.hpp" namespace husarion_ugv_hardware_interfaces { @@ -57,4 +57,4 @@ class PantherSystem : public UGVSystem } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_PANTHER_SYSTEM_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_SYSTEM_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp similarity index 93% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp index 7486cc5ae..8ca1fbe0b 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp @@ -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_ROBOT_DRIVER_CANOPEN_MANAGER_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_CANOPEN_MANAGER_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_CANOPEN_MANAGER_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_CANOPEN_MANAGER_HPP_ #include #include @@ -135,4 +135,4 @@ class CANopenManager } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_CANOPEN_MANAGER_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_CANOPEN_MANAGER_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/driver.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/driver.hpp similarity index 93% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/driver.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/driver.hpp index d124368c9..760cfde5a 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/driver.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/driver.hpp @@ -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_ROBOT_DRIVER_DRIVER_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_DRIVER_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_DRIVER_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_DRIVER_HPP_ #include #include @@ -147,4 +147,4 @@ class DriverInterface } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_DRIVER_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_DRIVER_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/lynx_robot_driver.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/lynx_robot_driver.hpp similarity index 78% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/lynx_robot_driver.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/lynx_robot_driver.hpp index e12a47078..4991373a8 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/lynx_robot_driver.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/lynx_robot_driver.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_LYNX_ROBOT_DRIVER_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_LYNX_ROBOT_DRIVER_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_LYNX_ROBOT_DRIVER_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_LYNX_ROBOT_DRIVER_HPP_ #include #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp" namespace husarion_ugv_hardware_interfaces { @@ -68,4 +68,4 @@ class LynxRobotDriver : public RoboteqRobotDriver } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_LYNX_ROBOT_DRIVER_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_LYNX_ROBOT_DRIVER_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/panther_robot_driver.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/panther_robot_driver.hpp similarity index 79% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/panther_robot_driver.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/panther_robot_driver.hpp index 084c0c87f..d72d36f20 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/panther_robot_driver.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/panther_robot_driver.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_PANTHER_ROBOT_DRIVER_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_PANTHER_ROBOT_DRIVER_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_PANTHER_ROBOT_DRIVER_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_PANTHER_ROBOT_DRIVER_HPP_ #include #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp" namespace husarion_ugv_hardware_interfaces { @@ -70,4 +70,4 @@ class PantherRobotDriver : public RoboteqRobotDriver } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_PANTHER_ROBOT_DRIVER_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_PANTHER_ROBOT_DRIVER_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/robot_driver.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/robot_driver.hpp similarity index 89% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/robot_driver.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/robot_driver.hpp index 214b490e2..177e61421 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/robot_driver.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/robot_driver.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOT_DRIVER_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOT_DRIVER_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOT_DRIVER_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOT_DRIVER_HPP_ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp" namespace husarion_ugv_hardware_interfaces { @@ -118,4 +118,4 @@ class RobotDriverInterface } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOT_DRIVER_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOT_DRIVER_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp similarity index 95% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp index dc7be71fb..ba3649db7 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp @@ -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_ROBOT_DRIVER_ROBOTEQ_DATA_CONVERTERS_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DATA_CONVERTERS_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DATA_CONVERTERS_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DATA_CONVERTERS_HPP_ #include #include @@ -25,7 +25,7 @@ #include "panther_msgs/msg/runtime_error.hpp" #include "panther_msgs/msg/script_flag.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp" #include "husarion_ugv_hardware_interfaces/utils.hpp" namespace husarion_ugv_hardware_interfaces @@ -260,4 +260,4 @@ class DriverData } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DATA_CONVERTERS_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DATA_CONVERTERS_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp similarity index 94% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp index 2abfa8430..729339ab7 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp @@ -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_ROBOT_DRIVER_ROBOTEQ_DRIVER_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DRIVER_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DRIVER_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DRIVER_HPP_ #include #include @@ -25,7 +25,7 @@ #include "lely/coapp/loop_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/driver.hpp" namespace husarion_ugv_hardware_interfaces { @@ -197,4 +197,4 @@ class RoboteqMotorDriver : public MotorDriverInterface } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DRIVER_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_DRIVER_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_error_filter.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_error_filter.hpp similarity index 91% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_error_filter.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_error_filter.hpp index 50419f7cc..063df2da8 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_error_filter.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_error_filter.hpp @@ -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_ROBOT_DRIVER_ROBOTEQ_ERROR_FILTER_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ERROR_FILTER_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ERROR_FILTER_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ERROR_FILTER_HPP_ #include #include @@ -104,4 +104,4 @@ class RoboteqErrorFilter } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ERROR_FILTER_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ERROR_FILTER_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp similarity index 88% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp index b788729ab..ea088a567 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ROBOT_DRIVER_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ROBOT_DRIVER_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ROBOT_DRIVER_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ROBOT_DRIVER_HPP_ #include #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/robot_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp" namespace husarion_ugv_hardware_interfaces { @@ -172,4 +172,4 @@ class RoboteqRobotDriver : public RobotDriverInterface } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ROBOT_DRIVER_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_ROBOT_DRIVER_ROBOTEQ_ROBOT_DRIVER_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/system_e_stop.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/system_e_stop.hpp similarity index 88% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/system_e_stop.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/system_e_stop.hpp index 5e12536e9..7cc903a36 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/system_e_stop.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/system_e_stop.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_SYSTEM_E_STOP_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_SYSTEM_E_STOP_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_SYSTEM_E_STOP_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_SYSTEM_E_STOP_HPP_ #include #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_controller.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/robot_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_error_filter.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_controller.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_error_filter.hpp" namespace husarion_ugv_hardware_interfaces { @@ -117,4 +117,4 @@ class EStop : public EStopInterface } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_SYSTEM_E_STOP_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_SYSTEM_E_STOP_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/system_ros_interface.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/system_ros_interface.hpp similarity index 96% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/system_ros_interface.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/system_ros_interface.hpp index c879603a0..4b813e17b 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/system_ros_interface.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/system_ros_interface.hpp @@ -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_SYSTEM_ROS_INTERFACE_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_SYSTEM_ROS_INTERFACE_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_SYSTEM_ROS_INTERFACE_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_SYSTEM_ROS_INTERFACE_HPP_ #include #include @@ -34,8 +34,8 @@ #include "panther_msgs/msg/io_state.hpp" #include "panther_msgs/msg/robot_driver_state.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_controller.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_controller.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp" using namespace std::placeholders; @@ -310,4 +310,4 @@ class SystemROSInterface } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_SYSTEM_ROS_INTERFACE_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_SYSTEM_ROS_INTERFACE_HPP_ diff --git a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/ugv_system.hpp b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/ugv_system.hpp similarity index 89% rename from husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/ugv_system.hpp rename to husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/ugv_system.hpp index ebdc0693e..d56f44a6c 100644 --- a/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/panther_system/ugv_system.hpp +++ b/husarion_ugv_hardware_interfaces/include/husarion_ugv_hardware_interfaces/robot_system/ugv_system.hpp @@ -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_UGV_SYSTEM_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_UGV_SYSTEM_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_UGV_SYSTEM_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_UGV_SYSTEM_HPP_ #include #include @@ -29,12 +29,12 @@ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_controller.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/robot_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_error_filter.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/system_e_stop.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/system_ros_interface.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_controller.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_error_filter.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/system_e_stop.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/system_ros_interface.hpp" namespace husarion_ugv_hardware_interfaces { @@ -165,4 +165,4 @@ class UGVSystem : public hardware_interface::SystemInterface } // namespace husarion_ugv_hardware_interfaces -#endif // HUSARION_UGV_HARDWARE_INTERFACES_PANTHER_SYSTEM_UGV_SYSTEM_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_ROBOT_SYSTEM_UGV_SYSTEM_HPP_ diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/gpio/gpio_controller.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_controller.cpp similarity index 97% rename from husarion_ugv_hardware_interfaces/src/panther_system/gpio/gpio_controller.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_controller.cpp index f95c14621..d2847ab7a 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/gpio/gpio_controller.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_controller.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_controller.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_controller.hpp" #include #include @@ -24,8 +24,8 @@ #include "gpiod.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 { diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/gpio/gpio_driver.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_driver.cpp similarity index 99% rename from husarion_ugv_hardware_interfaces/src/panther_system/gpio/gpio_driver.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_driver.cpp index 59c0d8158..d386b68db 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/gpio/gpio_driver.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/gpio/gpio_driver.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_driver.hpp" #include #include diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/lynx_system.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/lynx_system.cpp similarity index 97% rename from husarion_ugv_hardware_interfaces/src/panther_system/lynx_system.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/lynx_system.cpp index 9ea4ebbae..169f8c59c 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/lynx_system.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/lynx_system.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/lynx_system.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/lynx_system.hpp" #include #include @@ -21,7 +21,7 @@ #include "diagnostic_updater/diagnostic_status_wrapper.hpp" #include "rclcpp/logging.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/lynx_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/lynx_robot_driver.hpp" #include "husarion_ugv_utils/diagnostics.hpp" diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/panther_system.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/panther_system.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/src/panther_system/panther_system.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/panther_system.cpp index a1ea6a7c6..18a295606 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/panther_system.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/panther_system.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/panther_system.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/panther_system.hpp" #include #include @@ -21,7 +21,7 @@ #include "diagnostic_updater/diagnostic_status_wrapper.hpp" #include "rclcpp/logging.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/panther_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/panther_robot_driver.hpp" #include "husarion_ugv_utils/diagnostics.hpp" diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/canopen_manager.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/canopen_manager.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/canopen_manager.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/canopen_manager.cpp index 09e54a8b4..4b98a7f7a 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/canopen_manager.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/canopen_manager.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" #include #include diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/lynx_robot_driver.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/lynx_robot_driver.cpp similarity index 89% rename from husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/lynx_robot_driver.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/lynx_robot_driver.cpp index e15ae280b..90abcfcaa 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/lynx_robot_driver.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/lynx_robot_driver.cpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/lynx_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/lynx_robot_driver.hpp" #include #include #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp" namespace husarion_ugv_hardware_interfaces { diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/panther_robot_driver.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/panther_robot_driver.cpp similarity index 92% rename from husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/panther_robot_driver.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/panther_robot_driver.cpp index d9209afcd..9fe70960d 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/panther_robot_driver.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/panther_robot_driver.cpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/panther_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/panther_robot_driver.hpp" #include #include #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp" namespace husarion_ugv_hardware_interfaces { diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_data_converters.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp similarity index 99% rename from husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_data_converters.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp index 1cb9788d8..e68902e31 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_data_converters.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp" #include diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_driver.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_driver.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_driver.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_driver.cpp index 427324709..1e05d1fbe 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_driver.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_driver.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp" #include #include @@ -24,7 +24,7 @@ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" #include "husarion_ugv_hardware_interfaces/utils.hpp" namespace husarion_ugv_hardware_interfaces diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_error_filter.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_error_filter.cpp similarity index 96% rename from husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_error_filter.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_error_filter.cpp index a45b29590..81063c310 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_error_filter.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_error_filter.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_error_filter.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_error_filter.hpp" #include #include diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_robot_driver.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_robot_driver.cpp similarity index 94% rename from husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_robot_driver.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_robot_driver.cpp index 7bc28775e..18a61d917 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/robot_driver/roboteq_robot_driver.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_robot_driver.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/robot_driver.hpp" #include #include @@ -24,10 +24,10 @@ #include "lely/util/chrono.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp" namespace husarion_ugv_hardware_interfaces { diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/system_e_stop.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/system_e_stop.cpp similarity index 97% rename from husarion_ugv_hardware_interfaces/src/panther_system/system_e_stop.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/system_e_stop.cpp index 015dedae9..969b39563 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/system_e_stop.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/system_e_stop.cpp @@ -17,7 +17,7 @@ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/system_e_stop.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/system_e_stop.hpp" namespace husarion_ugv_hardware_interfaces { diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/system_ros_interface.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/system_ros_interface.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/src/panther_system/system_ros_interface.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/system_ros_interface.cpp index 4656ebcc7..560789d22 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/system_ros_interface.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/system_ros_interface.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/system_ros_interface.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/system_ros_interface.hpp" #include #include @@ -22,7 +22,7 @@ #include "rclcpp/rclcpp.hpp" #include "realtime_tools/realtime_publisher.h" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp" namespace husarion_ugv_hardware_interfaces { diff --git a/husarion_ugv_hardware_interfaces/src/panther_system/ugv_system.cpp b/husarion_ugv_hardware_interfaces/src/robot_system/ugv_system.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/src/panther_system/ugv_system.cpp rename to husarion_ugv_hardware_interfaces/src/robot_system/ugv_system.cpp index f9843906b..8f24a571b 100644 --- a/husarion_ugv_hardware_interfaces/src/panther_system/ugv_system.cpp +++ b/husarion_ugv_hardware_interfaces/src/robot_system/ugv_system.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "husarion_ugv_hardware_interfaces/panther_system/ugv_system.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/ugv_system.hpp" #include #include @@ -27,8 +27,8 @@ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/panther_robot_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/system_ros_interface.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/panther_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/system_ros_interface.hpp" #include "husarion_ugv_hardware_interfaces/utils.hpp" #include "husarion_ugv_utils/common_utilities.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/phidget_imu_sensor/test_phidget_imu_sensor.cpp b/husarion_ugv_hardware_interfaces/test/phidget_imu_sensor/test_phidget_imu_sensor.cpp index ebe79ad4b..b89971f4c 100644 --- a/husarion_ugv_hardware_interfaces/test/phidget_imu_sensor/test_phidget_imu_sensor.cpp +++ b/husarion_ugv_hardware_interfaces/test/phidget_imu_sensor/test_phidget_imu_sensor.cpp @@ -573,8 +573,8 @@ TEST_F(TestPhidgetImuSensor, CheckWrongConfigurationWithWrongParameters) { using hardware_interface::return_type; - const std::string panther_system_urdf_ = BuildUrdf({}, TestPhidgetImuSensor::kImuInterfaces); - CreateResourceManagerFromUrdf(panther_system_urdf_); + const std::string robot_system_urdf_ = BuildUrdf({}, TestPhidgetImuSensor::kImuInterfaces); + CreateResourceManagerFromUrdf(robot_system_urdf_); EXPECT_EQ(ConfigurePantherImu(), return_type::ERROR); EXPECT_EQ(ShutdownPantherImu(), return_type::OK); diff --git a/husarion_ugv_hardware_interfaces/test/panther_system/gpio/test_gpio_controller.cpp b/husarion_ugv_hardware_interfaces/test/robot_system/gpio/test_gpio_controller.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/test/panther_system/gpio/test_gpio_controller.cpp rename to husarion_ugv_hardware_interfaces/test/robot_system/gpio/test_gpio_controller.cpp index a05c6fd8e..3ee2069de 100644 --- a/husarion_ugv_hardware_interfaces/test/panther_system/gpio/test_gpio_controller.cpp +++ b/husarion_ugv_hardware_interfaces/test/robot_system/gpio/test_gpio_controller.cpp @@ -20,7 +20,7 @@ #include -#include +#include using GPIOInfo = husarion_ugv_hardware_interfaces::GPIOInfo; using GPIOPin = husarion_ugv_hardware_interfaces::GPIOPin; diff --git a/husarion_ugv_hardware_interfaces/test/panther_system/gpio/test_gpio_driver.cpp b/husarion_ugv_hardware_interfaces/test/robot_system/gpio/test_gpio_driver.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/test/panther_system/gpio/test_gpio_driver.cpp rename to husarion_ugv_hardware_interfaces/test/robot_system/gpio/test_gpio_driver.cpp index f8086776f..2bff4cab8 100644 --- a/husarion_ugv_hardware_interfaces/test/panther_system/gpio/test_gpio_driver.cpp +++ b/husarion_ugv_hardware_interfaces/test/robot_system/gpio/test_gpio_driver.cpp @@ -24,7 +24,7 @@ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_driver.hpp" #include "husarion_ugv_utils/test/test_utils.hpp" using GPIOInfo = husarion_ugv_hardware_interfaces::GPIOInfo; diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_canopen_manager.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_canopen_manager.cpp similarity index 97% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_canopen_manager.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_canopen_manager.cpp index d0c54a98c..6db65c90c 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_canopen_manager.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_canopen_manager.cpp @@ -19,7 +19,7 @@ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" #include "utils/fake_can_socket.hpp" #include "utils/test_constants.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_lynx_robot_driver.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_lynx_robot_driver.cpp similarity index 93% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_lynx_robot_driver.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_lynx_robot_driver.cpp index ba56643bf..599183870 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_lynx_robot_driver.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_lynx_robot_driver.cpp @@ -20,10 +20,10 @@ #include -#include -#include -#include -#include +#include +#include +#include +#include #include "utils/fake_can_socket.hpp" #include "utils/mock_driver.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_panther_robot_driver.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_panther_robot_driver.cpp similarity index 94% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_panther_robot_driver.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_panther_robot_driver.cpp index f714560e7..4663958e5 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_panther_robot_driver.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_panther_robot_driver.cpp @@ -20,10 +20,10 @@ #include -#include -#include -#include -#include +#include +#include +#include +#include #include "utils/fake_can_socket.hpp" #include "utils/mock_driver.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_data_converters.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_data_converters.cpp similarity index 99% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_data_converters.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_data_converters.cpp index 49c651223..6eecd75e6 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_data_converters.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_data_converters.cpp @@ -19,7 +19,7 @@ #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_data_converters.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_data_converters.hpp" #include "utils/test_constants.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_driver.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_driver.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_driver.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_driver.cpp index 0d3a50516..9468ab79c 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_driver.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_driver.cpp @@ -20,8 +20,8 @@ #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_driver.hpp" #include "utils/fake_can_socket.hpp" #include "utils/mock_roboteq.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_error_filter.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_error_filter.cpp similarity index 99% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_error_filter.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_error_filter.cpp index d02199718..b4fe4ede2 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_error_filter.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_error_filter.cpp @@ -14,7 +14,7 @@ #include -#include +#include TEST(TestRoboteqErrorFilter, InitialState) { diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_robot_driver.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_robot_driver.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_robot_driver.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_robot_driver.cpp index 77783d45f..26ee9120f 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/robot_driver/test_roboteq_robot_driver.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/robot_driver/test_roboteq_robot_driver.cpp @@ -22,10 +22,10 @@ #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/canopen_manager.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/robot_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/canopen_manager.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp" #include "utils/fake_can_socket.hpp" #include "utils/mock_driver.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/test_lynx_system.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/test_lynx_system.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/test_lynx_system.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/test_lynx_system.cpp index 8f735d4ca..66da3df64 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/test_lynx_system.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/test_lynx_system.cpp @@ -22,8 +22,8 @@ #include -#include "husarion_ugv_hardware_interfaces/panther_system/lynx_system.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/lynx_system.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp" #include "utils/system_test_utils.hpp" #include "utils/test_constants.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/test_panther_system.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/test_panther_system.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/test_panther_system.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/test_panther_system.cpp index 4f48e28be..057b4b5f0 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/test_panther_system.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/test_panther_system.cpp @@ -22,8 +22,8 @@ #include -#include "husarion_ugv_hardware_interfaces/panther_system/panther_system.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/roboteq_robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/panther_system.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/roboteq_robot_driver.hpp" #include "utils/system_test_utils.hpp" #include "utils/test_constants.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/test_system_ros_interface.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/test_system_ros_interface.cpp similarity index 98% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/test_system_ros_interface.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/test_system_ros_interface.cpp index 44cd950e3..6e3d15a11 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/test_system_ros_interface.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/test_system_ros_interface.cpp @@ -22,7 +22,7 @@ #include -#include +#include #include "utils/test_constants.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/unit/panther_system/test_ugv_system.cpp b/husarion_ugv_hardware_interfaces/test/unit/robot_system/test_ugv_system.cpp similarity index 99% rename from husarion_ugv_hardware_interfaces/test/unit/panther_system/test_ugv_system.cpp rename to husarion_ugv_hardware_interfaces/test/unit/robot_system/test_ugv_system.cpp index cbcb6f36d..3170ae533 100644 --- a/husarion_ugv_hardware_interfaces/test/unit/panther_system/test_ugv_system.cpp +++ b/husarion_ugv_hardware_interfaces/test/unit/robot_system/test_ugv_system.cpp @@ -23,7 +23,7 @@ #include #include -#include "husarion_ugv_hardware_interfaces/panther_system/ugv_system.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/ugv_system.hpp" #include "utils/system_test_utils.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/utils/mock_driver.hpp b/husarion_ugv_hardware_interfaces/test/utils/mock_driver.hpp index d9da785bd..10f116746 100644 --- a/husarion_ugv_hardware_interfaces/test/utils/mock_driver.hpp +++ b/husarion_ugv_hardware_interfaces/test/utils/mock_driver.hpp @@ -22,7 +22,7 @@ #include -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/driver.hpp" namespace husarion_ugv_hardware_interfaces_test { diff --git a/husarion_ugv_hardware_interfaces/test/utils/panther_system_test_utils.hpp b/husarion_ugv_hardware_interfaces/test/utils/panther_system_test_utils.hpp index 39cf60d76..871e912ca 100644 --- a/husarion_ugv_hardware_interfaces/test/utils/panther_system_test_utils.hpp +++ b/husarion_ugv_hardware_interfaces/test/utils/panther_system_test_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef HUSARION_UGV_HARDWARE_INTERFACES_TEST_UTILS_PANTHER_SYSTEM_TEST_UTILS_HPP_ -#define HUSARION_UGV_HARDWARE_INTERFACES_TEST_UTILS_PANTHER_SYSTEM_TEST_UTILS_HPP_ +#ifndef HUSARION_UGV_HARDWARE_INTERFACES_TEST_UTILS_ROBOT_SYSTEM_TEST_UTILS_HPP_ +#define HUSARION_UGV_HARDWARE_INTERFACES_TEST_UTILS_ROBOT_SYSTEM_TEST_UTILS_HPP_ #include #include @@ -138,7 +138,7 @@ class PantherSystemTestUtils std::shared_ptr GetResourceManager() { return rm_; } std::shared_ptr GetRoboteqsMock() { return roboteqs_mock_; } - std::string GetDefaultPantherSystemUrdf() const { return default_panther_system_urdf_; } + std::string GetDefaultPantherSystemUrdf() const { return default_robot_system_urdf_; } private: /** @@ -161,4 +161,4 @@ class PantherSystemTestUtils } // namespace husarion_ugv_hardware_interfaces_test -#endif // HUSARION_UGV_HARDWARE_INTERFACES_TEST_UTILS_PANTHER_SYSTEM_TEST_UTILS_HPP_ +#endif // HUSARION_UGV_HARDWARE_INTERFACES_TEST_UTILS_ROBOT_SYSTEM_TEST_UTILS_HPP_ diff --git a/husarion_ugv_hardware_interfaces/test/utils/system_test_utils.hpp b/husarion_ugv_hardware_interfaces/test/utils/system_test_utils.hpp index 360359b4e..d9c7bcadb 100644 --- a/husarion_ugv_hardware_interfaces/test/utils/system_test_utils.hpp +++ b/husarion_ugv_hardware_interfaces/test/utils/system_test_utils.hpp @@ -22,9 +22,9 @@ #include -#include "husarion_ugv_hardware_interfaces/panther_system/gpio/gpio_controller.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/robot_driver/robot_driver.hpp" -#include "husarion_ugv_hardware_interfaces/panther_system/system_e_stop.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/gpio/gpio_controller.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/robot_driver/robot_driver.hpp" +#include "husarion_ugv_hardware_interfaces/robot_system/system_e_stop.hpp" #include "utils/mock_driver.hpp" diff --git a/husarion_ugv_hardware_interfaces/test/utils/test_constants.hpp b/husarion_ugv_hardware_interfaces/test/utils/test_constants.hpp index a25e75f60..27237d8e3 100644 --- a/husarion_ugv_hardware_interfaces/test/utils/test_constants.hpp +++ b/husarion_ugv_hardware_interfaces/test/utils/test_constants.hpp @@ -21,8 +21,8 @@ #include #include -#include -#include +#include +#include namespace husarion_ugv_hardware_interfaces_test {