base

package

v0.0.0-...-2f1770f Latest Latest Go to latest Published: Sep 18, 2023 License: MIT Imports: 15 Imported by: 0

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Repository

github.com/shawnbmccarthy/viam-ros-module

Links

Open Source Insights

Documentation ¶

Index ¶

Variables
func NewTrackedBase(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (viambase.Base, error)
type RosBase
type RosBaseConfig
- func (cfg *RosBaseConfig) Validate(path string) ([]string, error)

Constants ¶

This section is empty.

Variables ¶

View Source

var RosBaseModel = resource.NewModel("viamlabs", "ros", "base")

Functions ¶

func NewTrackedBase ¶

func NewTrackedBase(
	ctx context.Context,
	deps resource.Dependencies,
	conf resource.Config,
	logger golog.Logger,
) (viambase.Base, error)

Types ¶

type RosBase ¶

type RosBase struct {
	resource.Named
	// contains filtered or unexported fields
}

func (*RosBase) Close ¶

func (r *RosBase) Close(_ context.Context) error

func (*RosBase) Geometries ¶

func (r *RosBase) Geometries(_ context.Context, _ map[string]interface{}) ([]spatialmath.Geometry, error)

func (*RosBase) IsMoving ¶

func (r *RosBase) IsMoving(_ context.Context) (bool, error)

func (*RosBase) MoveStraight ¶

func (r *RosBase) MoveStraight(
	ctx context.Context,
	distanceMm int,
	mmPerSec float64,
	extra map[string]interface{},
) error

func (*RosBase) Properties ¶

func (r *RosBase) Properties(
	_ context.Context,
	_ map[string]interface{},
) (viambase.Properties, error)

func (*RosBase) Reconfigure ¶

func (r *RosBase) Reconfigure(
	_ context.Context,
	_ resource.Dependencies,
	conf resource.Config,
) error

Reconfigure clean this up

func (*RosBase) SetPower ¶

func (r *RosBase) SetPower(
	_ context.Context,
	linear r3.Vector,
	angular r3.Vector,
	_ map[string]interface{},
) error

func (*RosBase) SetVelocity ¶

func (r *RosBase) SetVelocity(
	_ context.Context,
	linear r3.Vector,
	angular r3.Vector,
	_ map[string]interface{},
) error

func (*RosBase) Spin ¶

func (r *RosBase) Spin(
	ctx context.Context,
	angleDeg,
	degsPerSec float64,
	extra map[string]interface{},
) error

func (*RosBase) Stop ¶

func (r *RosBase) Stop(_ context.Context, _ map[string]interface{}) error

type RosBaseConfig ¶

type RosBaseConfig struct {
	NodeName   string `json:"node_name"`
	PrimaryUri string `json:"primary_uri"`
	Topic      string `json:"topic"`
	TimeRate   int64  `json:"time_rate_ms"` // in ms
}

func (*RosBaseConfig) Validate ¶

func (cfg *RosBaseConfig) Validate(path string) ([]string, error)

Source Files ¶

View all Source files

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