ControlsROS2Wrapper.h File Reference

#include <allocator/ThrustAllocator.h>
#include <utils/Types.h>
#include <utils/concurrentqueue.h>
#include <vehicle/Vehicle.h>
#include <yaml-cpp/yaml.h>
#include <atomic>
#include <bb_controls_msgs/action/locomotion.hpp>
#include <bb_controls_msgs/msg/controller_status.hpp>
#include <bb_controls_msgs/msg/thrusters.hpp>
#include <bb_controls_msgs/srv/controller.hpp>
#include <bb_controls_msgs/srv/encircle_traj.hpp>
#include <bb_controls_msgs/srv/spline_traj.hpp>
#include <bb_planner_msgs/srv/get_plan_through_poses.hpp>
#include <bb_sensor_msgs/msg/batteries_with_id.hpp>
#include <boost/uuid/uuid.hpp>
#include <boost/uuid/uuid_generators.hpp>
#include <boost/uuid/uuid_io.hpp>
#include <memory>
#include <mutex>
#include <rclcpp_action/rclcpp_action.hpp>
#include <rclcpp_action/server.hpp>
#include <std_msgs/msg/bool.hpp>
#include <string>
#include <string_view>
#include <thread>
#include <unordered_map>

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Classes
class	ControlsROS2Wrapper
	ROS2 node that wraps the Vehicle control stack and exposes its interface to the rest of the system. More...
struct	ControlsROS2Wrapper::Params
	Internal representation of all ROS-declared controller and dynamics parameters. More...