CHANGELOG

Changelog for package husarion_ugv_hardware_interfaces

2.3.0 (2025-05-19)

  • Revert “Update changelog”

  • Revert “2.3.0”

  • Revert “2.3.0”

  • Revert “Update changelog”

  • Reapply “Release 2.3.0 to ros2”

  • Merge branch ‘ros2’ of https://github.com/husarion/husarion_ugv_ros into rel-test

  • Merge pull request #550 from husarion/release-2.3.0

  • 2.3.0

  • Update changelog

  • Merge pull request #549 from husarion/revert-546-release-2.3.0

  • Revert “Release 2.3.0”

  • Merge pull request #548 from husarion/revert-547-2.3.0-20250425

  • Revert “Release 2.3.0 to ros2”

  • Merge pull request #547 from husarion/2.3.0-20250425

  • Merge pull request #546 from husarion/release-2.3.0

  • 2.3.0

  • Update changelog

  • Jalisco fix hw interfaces (#536)

  • Merge pull request #535 from husarion/release-test-fixes

  • fix integration tests

  • Merge remote-tracking branch ‘origin/ros2-devel’ into change-pat

  • Merge pull request #518 from husarion/jazzy-devel-hw

  • Merge branch ‘ros2-devel’ into jazzy-devel-hw

  • Update minimal cmake version

  • Use hardware instead of private topic

  • Fix pre-commit

  • Fix deprecation warnings

  • Merge branch ‘jazzy-devel-sim’ into jazzy-devel-hw

  • Merge branch ‘ros2-devel’ into jazzy-devel-sim

  • Merge branch ‘ros2-devel’ into jazzy-devel-sim

  • Merge branch ‘jazzy-devel-sim’ into jazzy-devel-hw

  • Merge branch ‘ros2-devel’ into jazzy-devel-sim

  • Pre-commit

  • Build hardware

  • Contributors: Dawid Kmak, Rafal Gorecki, action-bot, github-actions[bot], kmakd, rafal-gorecki, rafal.gorecki

2.2.1 (2025-04-04)

2.2.0 (2025-03-13)

  • Fix roboteq robot driver deinitialization (#504)

  • Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-devel

  • Merge pull request #496 from husarion/repo-rename

  • update links

  • Merge branch ‘ros2-devel’ into lights-new

  • Merge pull request #490 from husarion/ros2-fix-bild-warnings

  • fix build warnings

  • Ros2 unit test workflow (#471)

  • Merge pull request #479 from husarion/e_stop_torque_enable

  • Change method name

  • Rename to motor_torque_enable

  • Merge remote-tracking branch ‘origin/ros2-devel’ into e_stop_torque_enable

  • Rename service e_stop_torque_enable

  • Add suggestions

  • Merge pull request #480 from husarion/ros2-cmake-export

  • Add ament_index_cpp dependency

  • Add exports to cmake

  • use throw to sen failed response

  • Ros2 motor enable fix (#478)

  • Change logic from motor_power_enable to e_stop_torque_enable

  • Remove last new line

  • Only fix logs

  • Add motor enable set pin function

  • Parameters reorganisation (#472)

  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)

  • Merge pull request #466 from husarion/ros2-add-msgs

  • Merge branch ‘ros2-devel’ into ros2-add-msgs

  • Merge branch ‘ros2-devel’ into add-panther-diagnostics-config

  • husarion_ugv_msg -> husarion_ugv_msgs

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-devel

  • Add husarion_ugv_msgs

  • Merge pull request #457 from husarion/ros2-lynx-devel

  • Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-lynx-devel

  • Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-lynx-devel

  • fix CHRG_DISABLE init state (#447)

  • Update gpio controller (#425)

  • Ros2 husarion ugv v2 (#422)

  • Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

  • Ros2 fix led bug (#441)

  • Merge branch ‘ros2-devel’ into ros2-lights-tests

  • Contributors: Dawid Kmak, pawelirh

2.1.1 (2024-09-05)

  • Merge branch ‘ros2-devel’ into ros2-ns-refactor

  • Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-add-nmea-gps

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-testing-poc

  • Merge pull request #386 from husarion/ros2-unify-filenames

  • Reorganize test utilities in hardware_interfaces

  • Minor modifications

  • Fix links in documentations (#387)

  • Reorganize panther_hardware_interfaces files

  • Ros2 estop sim gui (#384)

  • Merge branch ‘ros2-devel’ into ros2-ns-refactor

  • unify CMakeLists.txt files (#381)

  • unify CMakeLists.txt files

  • New format of documentation (#369)

  • Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

  • Merge pull request #375 from husarion/hotfix-handle-can-timeout

  • Decrease throttle interval on update

  • Rename CAN communication errors

  • Add heartbeat on CAN

  • Ros2 system status tf namespace (#372)

  • configure heartbeat

  • Merge pull request #371 from husarion/bugfix-imu-orientation

  • FIx timestamp calculation and implement some minor changes

  • Merge pull request #362 from husarion/ros2-api-reorganization

  • Minor readme updates

  • Enhance ROS API names in the stack

  • Add devices symlink (#347)

  • Contributors: Dawid, Dawid Kmak, Jakub Delicat, pawelirh

2.0.4 (2024-06-28)

  • Merge pull request #337 from husarion/ros2-gz-lights

  • ROS 2 e-stop fixes (#348)

  • Merge pull request #343 from husarion/ros2-gpio-controller-revision

  • Add publishing led_control io state

  • Minor changes based on PR review

  • Suggestions and pre-commit update

  • Add img encoding check

  • Update panther_hardware_interfaces/CODE_STRUCTURE.md

  • Merge branch ‘ros2-devel’ into ros2-gz-lights

  • Update GPIO controller tests

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-gpio-controller-revision

  • Merge branch ‘ros2’ into ros2-build-in-animation

  • Update documentation panther_lights and panther_hardware_interfaces

  • Add LED service in panther_system

  • Fix test compiling

  • Replace namespace

  • Move gpio_driver to panther_hardware_interfaces

  • Merge branch ‘ros2’ into ros2-gz-lights

  • Contributors: Dawid Kmak, Paweł Irzyk, pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

  • Merge pull request #320 from husarion/ros2-clear-logs

  • Update panther_hardware_interfaces/src/panther_system.cpp

  • Update panther_hardware_interfaces/src/panther_system.cpp

  • Update panther_hardware_interfaces/src/panther_system.cpp

  • Clarified log message

  • Add configuration logs in panther_system

  • MInor logging changes

  • Exception changes in hardware_interfaces

  • Revise panther_battery logs

  • Organize logs: panther_system and panther_imu

  • Contributors: Dawid Kmak, Paweł Irzyk, pawelirh

2.0.2 (2024-06-05)

2.0.1 (2024-05-01)

  • Merge pull request #268 from husarion/ros2-add-estop-manager

  • Update documentation

  • update clean up

  • review fixes

  • review fixes || remove manager

  • fix typo

  • Add E-Stop manager

  • Ros2 fix imu reconnection (#267)

  • Missing URL

  • Merge pull request #264 from husarion/ros2-use-absolute-url

  • Absolute URL

  • Merge pull request #261 from husarion/ros2-readme

  • Pawel sugestions

  • Merge branch ‘ros2-devel’ into ros2-readme

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-os-diagnostics

  • Ros2 control imu hardware (#236)

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-os-diagnostics

  • Added working node

  • Contributors: Jakub Delicat, Paweł Irzyk, Paweł Kowalski, pawelirh, rafal-gorecki

2.0.0 (2024-03-29)

  • Merge pull request #258 from husarion/ros2-control-fix-err-flag-reset ROS 2- Fix Error Clearing Mechanism for Roboteq Controllers

  • fixes for pth 1.06

  • update brief

  • move PDO operations to wrapper function

  • fix clearing errors

  • Merge pull request #257 from husarion/ros2-headers Divide Headers into std and local liblaries

  • Group and order improvement

  • ROS 2 - Add GPIOController Tests (#247) * undo test remove * move GPIOController to another branch :p * add GPIOController tests * review fixes * small fixes * fix formatting

  • Ros2 control add tests (#253) * undo test remove * move GPIOController to another branch :p * fix build and typos * Fix test naming * fix tests * clean up code * fix includes ——— Co-authored-by: Paweł Kowalski <kowalski.pawel.r@gmail.com>

  • Rest of fils

  • Headers + Copyright

  • Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-panther-manager

  • Merge pull request #254 from husarion/ros2-liblely-disable-debug-logs ROS 2 disable liblely debug logs

  • Define NDEBUG macro

  • ROS 2 - Fix estop threads (#249) * fix header stamp and qos * add MultiThreadedExecutor * Add compatibility with PTH 1.06 * small fixes * review fixes * Disable CAN usage for EStop trigger on PTH >= 1.2” * fix typo

  • Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-panther-manager

  • fix qos (#250)

  • Merge pull request #240 from husarion/ekf_optimalization Ekf optimalization

  • Merge branch ‘ros2-devel’ into ros2-ekf-optimalization

  • Merge branch ‘ros2-devel’ into ros2-lights-tests

  • Merge branch ‘ros2-manager-plugins’ of https://github.com/husarion/panther_ros into ros2-panther-manager

  • Change relative to abs speed frame

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-manager-plugins

  • update params (#243)

  • Merge pull request #245 from husarion/ros2-fix-roboteq-battery ROS 2 - Fix Roboteq Battery

  • fix header stamp and qos

  • Ros2 lights controller (#241) * ROS 2 lights animations (#221) * add animation and image_animation class * controller node and pluginlib * add tests and fix issues * add animation images * add alpha channel * add charging animation with tests * update dummy controller * fix missing includes * add missing dep * Update panther_lights/include/panther_lights/animation/animation.hpp Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> * Update panther_lights/include/panther_lights/animation/animation.hpp Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> * review changes * update tests ——— Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> * ROS 2 lights converter (#223) * add led_segment * WIP led_panel and segment converter * simplify converter * update segment conversion * add test for led panel, segment, and converter * review fixes * update copyright year * update controller so it somehow works * Update tests * Apply review fixes * fix gpio tests * parse controller configuration * add default animation * add yaml_utils to panther_utils * add led animation and queue * Fix queuing * fix bug * priority and timeout queue validation * move queue to separate file * add briefs * param and brightness handle * user animations, bugs, briefs * use yaml utils * fix tests * update tests * add led_animation test * test fixxes * add led animations queue tests * clean up code | clean up code * Update documentation | add launching controller node * make it work * update scheduler * Update panther_lights/LIGHTS_API.md Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> * review fixes * update pre-commit and fix typos * Update panther_bringup/README.md Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> * Update panther_hardware_interfaces/README.md Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> * Update panther_lights/README.md Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> * Update panther_lights/test/test_controller_node.cpp Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> * review fixes * Update README.md ——— Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com>

  • Merge pull request #242 from husarion/ros2-fix-pointers-loop ROS2 - Fix Pointer Cyclic Dependencies

  • fix pointer cyclic dependencies

  • ROS2 - Fix Power Motor Service (#238) * add new functionality * review fixes

  • ROS 2 control liblely instalation (#239) * install liblely with cmake * simplify instalation * fix condition * add super build * libgpiod super build * remove obsolate info * add missing PKG_CONFIG_PATH

  • Ros2 diagnostics hardware interfaces (#231) * add GPIO controller * Basic integration of gpio controller and panther system * [WIP] Add panther version * add io state topic * Remove unnecessary parts from cmakelists * Cleanup gpio controller * Add estop to panther system * Add todo comment * Add ServiceWrapper * Add estop services * Add remaps to ros2 control * Add publishing estop state, change iostate to latched and fix publishing initial state * revise e-stop logic in initial stage * same, but in better way * small changes * remove clear_errors service * Fix test * Add resetting gpio controller * Change wheel separation multiplier to 1.0 * fix pin names list * add robot version check before GPIO read * Change lock in gpio driver * Fix order in cmakelists * Change throws to exception in briefs * Remove unnecessary includes * Fix controller_manager topic remaps * Add checking if last commands were 0 before resetting estop * Change estop variable to atomic bool * Add motor controller mutex * Change order of operations when setting estop * Fix order of methods * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) * Refactor setting estop in write method * Fix estop naming convention * Remove old todos * Fix typo * Review fixes * fix formatting * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * review fixes * rename some methods * draft of InitializeAndPublishIOStateMsg functionality * Initialize diagnostic updater * Update docs * fix io_state topic * fix service warappers * small fix * Add missing dependencies * Implement diagnostics tasks * Add header file to panther_system * Add get map methods * Add utilities and tests * Fix mistaken removal * Fix method order * Update panther_hardware_interfaces/README.md Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_hardware_interfaces/src/panther_system.cpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_hardware_interfaces/src/panther_system.cpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_hardware_interfaces/src/panther_system.cpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_hardware_interfaces/src/roboteq_data_converters.cpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_utils/include/panther_utils/common_utilities.hpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_utils/include/panther_utils/diagnostics.hpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_utils/test/test_common_utilities.cpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_utils/test/test_diagnostics.cpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Add additional test in test_diagnostics ——— Co-authored-by: Paweł Kowalski <kowalski.pawel.r@gmail.com> Co-authored-by: Maciej Stępień <maciej.stepien@husarion.com> Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>

  • Merge pull request #233 from husarion/ros2-update-service-wrapper ROS 2 - Update Service Wrapper

  • review fixes

  • update service wrapper

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-add-mecanum-controller

  • Merge pull request #208 from husarion/ros2-control Add ROS 2 control

  • Temporarily remove tests tests were moved to ros2-control-add-tests branch and should be merged after additional review process

  • Add GPIO controller (#222) * add GPIO controller * Basic integration of gpio controller and panther system * [WIP] Add panther version * add io state topic * Remove unnecessary parts from cmakelists * Cleanup gpio controller * Add estop to panther system * Add todo comment * Add ServiceWrapper * Add estop services * Add remaps to ros2 control * Add publishing estop state, change iostate to latched and fix publishing initial state * revise e-stop logic in initial stage * same, but in better way * small changes * remove clear_errors service * Fix test * Add resetting gpio controller * Change wheel separation multiplier to 1.0 * fix pin names list * add robot version check before GPIO read * Change lock in gpio driver * Fix order in cmakelists * Change throws to exception in briefs * Remove unnecessary includes * Fix controller_manager topic remaps * Add checking if last commands were 0 before resetting estop * Change estop variable to atomic bool * Add motor controller mutex * Change order of operations when setting estop * Fix order of methods * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) * Refactor setting estop in write method * Fix estop naming convention * Remove old todos * Fix typo * Review fixes * fix formatting * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * review fixes * rename some methods * draft of InitializeAndPublishIOStateMsg functionality * fix io_state topic * fix service warappers * small fix * rewiew fixes * add briefs in gpio_controler * review fixes * small fix ——— Co-authored-by: Paweł Kowalski <kowalski.pawel.r@gmail.com> Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>

  • Merge pull request #219 from husarion/ros2-control-pdo-commands ros2_control PDO commands

  • Refactor tests

  • CR suggestions - use future in roboteq driver boot

  • CR suggestions - change to lock guard and fix locking range

  • CR suggestions - move roboteq mock methods implementation

  • CR suggestions - move flags reading to a separate variable

  • CR suggestions - update readme

  • CR suggestions - readme fixes

  • Refactor panther system

  • CR suggestions

  • Remove old todo comment

  • Update coment

  • Add std to int types

  • Update tests

  • Merge branch ‘ros2-control’ into ros2-control-pdo-commands Conflicts: panther_controller/config/WH01_controller.yaml panther_controller/config/WH02_controller.yaml panther_controller/config/WH04_controller.yaml panther_description/urdf/panther_macro.urdf.xacro panther_hardware_interfaces/CMakeLists.txt panther_hardware_interfaces/CODE_STRUCTURE.md panther_hardware_interfaces/README.md panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/motors_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp panther_hardware_interfaces/src/canopen_controller.cpp panther_hardware_interfaces/src/motors_controller.cpp panther_hardware_interfaces/src/panther_system.cpp panther_hardware_interfaces/src/panther_system_ros_interface.cpp panther_hardware_interfaces/src/roboteq_driver.cpp

  • CR suggestions - add default FlagError destructor

  • CR suggestions - update error msg and refactor checksafetystop method

  • CR suggestions - fix consts

  • CR suggestions - add exception msg in service

  • CR suggestions - fix includes in motor controller

  • CR suggestions - update roboteq driver briefs

  • CR suggestions - move configureRT to panther_utils

  • CR suggestion - create roboteq error filter cpp file for implementations

  • CR suggestion - move longer methods to cpp file

  • CR suggestions - add package links in readme

  • CR suggestions - add tags to readme

  • CR suggestions - add more thorough checking of joint names

  • CR suggestions - add node name and options parameters

  • Move initialization and activation of ros interface to constructor (and destructor)

  • Add checking initialization state in canopen and motor controllers

  • CR suggestions - make RoboteqCANObjects static

  • CR suggestions

  • CR suggestion - fix CAN, PDO, SDO, CANopen names

  • CR suggestions - add ms to timeouts

  • CR suggestions

  • Add checking if joint name doesn’t contain any reserved sequences (fl fr rr rl)

  • Remove unnecessary string literals

  • Update roboteq error filter

  • CR suggestions

  • Move ids and subids of canopen objects into seperate struct

  • Update communication parameters

  • Update readme

  • CR suggestions - fix includes

  • Remove todos

  • Remove comment and todos

  • Remove additional timeout in sdo operations

  • Use sdo operation timeout parameter

  • Fix naming and update documentation

  • Update documentation

  • Update ignored runtime errors

  • Update volts amps and battery names

  • Update log messages

  • Change return failure to error (in this cases on_error method should be triggered)

  • Fix destroying canopen controller

  • Update PDO driver state timeout log

  • Switch to loop driver (better performance)

  • Fix destroying objects

  • Fix spinning in panther system ros interface

  • Add configurable driver states update frequency

  • Rename eds file

  • Merge branch ‘ros2-control’ into ros2-control-pdo-commands Conflicts: panther_hardware_interfaces/README.md panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp panther_hardware_interfaces/src/motors_controller.cpp panther_hardware_interfaces/src/panther_system.cpp panther_hardware_interfaces/src/roboteq_driver.cpp

  • Remove old gpio driver and temporarily comment out tests

  • Update whole system to use new pdo communication and add proper timeouts

  • Add heatsink temperature

  • New pdo configuration

  • CR suggestions - use bitset in flag errors

  • Change setting init value of flags to just 0

  • Fix constant name

  • CR suggestions - getbyte as template

  • CR suggestions - consts in overridden methods

  • CR suggestions - add const to submit write

  • CR suggestions - variable name change

  • CR suggestions - any of and auto

  • CR suggestions - std array

  • CR suggestions - change constructor parameter types

  • Move additional wait to constant member

  • Move can interface name to parameter

  • CR suggestions - rename canopen configuration file

  • CR suggestions - cstdint types

  • Change reading driver state to pdo and update pdo remapping

  • Add missing dependencies

  • CR suggestions

  • Change commands to pdos, update sdo operations and update reading pdos

  • Update eds to fw21a and change it to match new sent data

  • Update todo comments

  • Add warning about safety critical parameters

  • Refactor panther system test utils

  • Move code structure to separate file

  • Refactor setting surpressed flags

  • Add set bit utility function

  • Decrease wait timeout

  • Refactor error filter ids

  • Add comment about sdo operation deadlock

  • Add comment about can loop error

  • Refactor update error msg

  • Update todos

  • Move service name to constants

  • Refactor test_update_system_pdo_feedback_timeout

  • Move topic name to constants

  • Use WaitForMsg from panther utils

  • Add boot timeout test

  • Update msgs in boot exceptions

  • Add first channel check in safety stop test

  • Refactor motor controller state msg - remove joint name and move runtime error

  • Update todos

  • Refactor updatemsgerrors method

  • Refactor locks usage

  • Move can error flag to MotorControllerState

  • Use wait for msg function from panther utils

  • Add plugin name constant

  • Refactor test constants naming

  • Move settings to constants

  • Remove comment

  • Fix lock naming

  • Add timeout when waiting for boot

  • Refactor error filters

  • Move setting safetystop, so that it can be set faster in the write function

  • Refactor tests

  • Fix types and casting in tests

  • Remove comments

  • Change types from double to float

  • Refactor panther system logging and fix throttling

  • Grammar fixes

  • Refactor tests - add namespace and fix roboteq mock file name

  • Refactor test utils

  • Refactor - rename panther wheels controller to motors controller and fix order of methods/variables

  • Remove comments from roboteq driver

  • Refactor - fix include guards

  • Refactor - rename variables

  • Remove unused variable

  • Refactor - change panther system node name to ros interface

  • Refactor - fix naming

  • Fix roboteq naming

  • Make handling exceptions unified

  • Update readme

  • Refactor tests

  • Use typename in templates

  • Refactor roboteq driver

  • Refactor roboteq driver - separate channel operations

  • Precommit changes

  • Remove wait in initialization

  • Move OperationWithAttempts and add tests

  • Fix panther system onerror test

  • Add panther system onerror test

  • Move setup/teardown to constructor/destructor

  • Add wrong order urdf test

  • Update comments

  • Fix roboteq driver tests

  • Add pdo and read sdo timeout tests

  • Use atomic_bool type alias

  • [WIP] Refactor panther system tests

  • Add sdo timeout test and refactor tests

  • Refactor and add tests for utils

  • [WIP] Update roboteq driver comments

  • Add briefs to data converters

  • Refactor panther wheels controller

  • [WIP] Refactor panther system

  • Refactor system node and add tests

  • Refactor panther system node and add documentation

  • Refactor canopen controller

  • Refactor panther system node

  • Move panther system node to new files

  • [WIP] Refactor panther system

  • [WIP] Refactor panther system - move node functionalities to separate class

  • [WIP] Refactor panther system

  • Refactor error filter

  • Refactor can controller

  • Add flags and timestamps tests to roboteq driver tests

  • [WIP] Add wheels controller tests

  • [WIP] Add roboteq driver tests

  • Add can controller test

  • Update setting wait in roboteq mock

  • Refactor - create can_controller class

  • Seperate boot errors handling

  • Remove old todos

  • Remove unnecessary headers

  • Update data converters refactor fix voltage calculation

  • Add data converters test

  • Add parameter description to readme

  • [WIP] Update readme

  • Fix edge case when multiple sdo operations are queued

  • [WIP] Fix system error

  • Add operation attempts method

  • Remove turn off estop in activation (no longer needed)

  • Fix clearing errors

  • Add comment

  • Change unnecessary uint8_t types

  • Make clearing errors multi thread safe

  • Fix turn on safety stop

  • Add safety stop attempts, fix counter types, fix updating pdo error

  • Add safety stop

  • Add clear errors service

  • Use ptrs from rclcpp

  • Fix urdf in tests

  • Fix initialization and activation attempts

  • Move timeouts and attempts to parameters

  • Add old data info to state msg

  • Add error log about roboteq errors and refactor flag errors

  • Move feedback timeout to parameter

  • Fix unique/shared ptrs

  • Change default c++ version to 17

  • Add more roboteq intialization/activation attempts

  • Refactor error handler and add tests

  • Add todos

  • Increase can thread priority

  • Rename methods

  • Separate SDO and PDO errors

  • Add test urdf with changed order

  • Comment out timeout test

  • Add todos

  • Refactor panther system add error handler and move code to separate functions

  • Add hardware interface readme

  • Add sdo write timeout test

  • Fix setting error and add error to msg

  • Add more error handling in initialization

  • Update timeouts

  • Add sdo read and write error counts (allow some failures before escalating)

  • Update feedback timeout

  • Fix channel order in tests

  • Fix motor order

  • Increase sdo timeout

  • Update hardware interfaces test readme

  • Fix temperature type

  • Update initial procedure test

  • Update test slave bin (change heartbeat and eds)

  • Fix eds version some other version than for firmware 2.1 was used

  • Remove comment

  • Rename variable

  • Remove not used stuff

  • Rename data converters

  • Read single sdo value every read cycle

  • Refactor data conversion

  • Remove visibility control (windows is not supported)

  • Update encoder disconnected test

  • Refactor - move feedback converters, proper error handling

  • Rename tests file

  • Refactor tests

  • Refactor tests - add setup and teardown

  • Add waiting for mock start in tests

  • [WIP] Refactor tests

  • Add initial procedure test

  • Add reading roboteq feedback test

  • Fix calculating current

  • Add encoder disconnected test

  • Change function name

  • Add reading test

  • Add writing test

  • Add deactivate unconfigure test

  • Remove using namespace lely

  • Change io guard to local variable

  • Fix deinitialization of panther wheels controller

  • Fix memory problems in roboteq mock

  • [WIP] Add roboteq mock tests

  • Refactor roboteq mock

  • Fix temp sdo data type

  • Add mock slave configuration

  • Add roboteq mock for tests

  • Add checking state in test

  • Fix handling executor in hardware system

  • Add can executor thread join on deinitialize

  • Remove unnecessary thread include

  • Add panther load system test

  • Remove comments

  • Rename joint size variable and check if hardware parameters were defined

  • Add information when RT can thread is used

  • Add safety stop

  • Rename and adjust feedback timeout

  • Add handling error when reseting roboteq script

  • Add turning off estop on activation

  • Add triggering estop to on_error

  • Add wait timeout

  • Fix building

  • Update sched priority of can node

  • Add reading other roboteq driver feedback

  • Refactor checking flags

  • Refactor types

  • Update sdo communication

  • Add comments

  • Refactor handling commands and states

  • Remove torque control code

  • Add todo comments

  • Fix handling error flags

  • Move roboteq cmd and feedback conversion to roboteq driver

  • Add default value

  • Add wait for boot and fix handling can exceptions

  • Add comments

  • Update error handling

  • Fix hardware interface

  • Add error handling

  • [WIP] Refactor

  • Refactor

  • Fix build

  • Add eds config

  • Add ros2 control

  • Contributors: Dawid, Dawid Kmak, Jakub Delicat, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, pawelirh, rafal-gorecki