base

Documentation

Index

• Variables
• func NewTrackedBase(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (viambase.Base, error)
• type RosBase
  • func (r *RosBase) Close(_ context.Context) error
  • func (r *RosBase) Geometries(_ context.Context, _ map[string]interface{}) ([]spatialmath.Geometry, error)
  • func (r *RosBase) IsMoving(_ context.Context) (bool, error)
  • func (r *RosBase) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, ...) error
  • func (r *RosBase) Properties(_ context.Context, _ map[string]interface{}) (viambase.Properties, error)
  • func (r *RosBase) Reconfigure(_ context.Context, _ resource.Dependencies, conf resource.Config) error
  • func (r *RosBase) SetPower(_ context.Context, linear r3.Vector, angular r3.Vector, ...) error
  • func (r *RosBase) SetVelocity(_ context.Context, linear r3.Vector, angular r3.Vector, ...) error
  • func (r *RosBase) Spin(ctx context.Context, angleDeg, degsPerSec float64, ...) error
  • func (r *RosBase) Stop(_ context.Context, _ map[string]interface{}) error
• type RosBaseConfig
  • func (cfg *RosBaseConfig) Validate(path string) ([]string, error)

Variables

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)