devkit_driver.modules

class devkit_driver.modules.BMSHandler(node: rclpy.node.Node, bms: rosys.hardware.Bms)[source]

Bases: object

Handle the odometry.

class devkit_driver.modules.BumperHandler(node: rclpy.node.Node, bumper: rosys.hardware.Bumper, estop: rosys.hardware.EStop)[source]

Bases: object

Handle the bumper states from core data.

class devkit_driver.modules.EStopHandler(node: rclpy.node.Node, estop: rosys.hardware.EStop)[source]

Bases: object

Handle the estop.

BACK_ID = 'back'
FRONT_ID = 'front'
soft_estop_callback(msg: std_msgs.msg.Bool)[source]

Implement a callback for the estop.

class devkit_driver.modules.ImuHandler(node: rclpy.node.Node, imu)[source]

Bases: object

Subscribe to the feldfreund_devkit Imu object and publish sensor_msgs/Imu.

FRAME_ID = 'imu_link'
TOPIC = '/imu/data'
class devkit_driver.modules.OdomHandler(node: rclpy.node.Node, odom: rosys.driving.Odometer)[source]

Bases: object

Handle the odometry.

publish_odom(*_args) → None[source]

Publish odometry data to ros.

class devkit_driver.modules.ReconDEMLogger(node: rclpy.node.Node)[source]

Bases: object

Log RTK-fixed points at fixed distance intervals for DEM building.

__init__(node: rclpy.node.Node)[source]

Declare recon-logging parameters and open the output CSV if enabled.

close() → None[source]

Flush and release the CSV file handle, if one is open.

class devkit_driver.modules.RobotBrainHandler(node: rclpy.node.Node, robot_brain: rosys.hardware.RobotBrain)[source]

Bases: object

Handler for the Zauberzeug Robot Brain.

class devkit_driver.modules.TwistHandler(node: rclpy.node.Node, wheels: rosys.hardware.Wheels)[source]

Bases: object

Relate ROS cmd_vel messages to RoSys wheel commands.

handle_twist(cmd_msg: geometry_msgs.msg.Twist) → None[source]

Implement callback for cmd_vel message.

Modules

bms_handler

bumper_handler

estop_handler

imu_handler

ImuHandler — publishes BNO085 data from the Lizard robot brain as sensor_msgs/Imu.

odom_handler

recon_dem_logger

recon_dem_logger.py ──────────────────── Logs RTK-fixed position (lat, lon, alt) at fixed distance intervals during a recon drive, for later interpolation into a DEM (see devkit_ui/terrain_mask.py and repo issue #110).

robot_brain_handler

twist_handler