E-stop functionalities to Gazebo simulation #383
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WalkthroughThe recent updates to the Panther robotic system significantly enhance emergency stop functionalities while optimizing performance within the Gazebo simulation environment. Key modifications include remapping control topics, updating plugin configurations, and introducing a dedicated Changes
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Actionable comments posted: 1
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (8)
- panther_description/urdf/gazebo.urdf.xacro (1 hunks)
- panther_description/urdf/panther_macro.urdf.xacro (1 hunks)
- panther_gazebo/CMakeLists.txt (2 hunks)
- panther_gazebo/config/led_strips.yaml (2 hunks)
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (1 hunks)
- panther_gazebo/package.xml (1 hunks)
- panther_gazebo/panther_hardware_plugins.xml (1 hunks)
- panther_gazebo/src/gz_panther_system.cpp (1 hunks)
Additional comments not posted (39)
panther_gazebo/panther_hardware_plugins.xml (2)
1-1: LGTM!The library path is correctly defined.
10-10: LGTM!The closing library tag is correctly defined.
panther_gazebo/config/led_strips.yaml (2)
2-2: LGTM!The frequency for
chanel_1has been reduced to 12, and the comment explains the reason for the change.
13-13: LGTM!The frequency for
chanel_2has been reduced to 12, and the comment explains the reason for the change.panther_gazebo/CMakeLists.txt (7)
4-7: LGTM!Setting the default C standard to C11 is correctly implemented.
9-12: LGTM!Setting the default C++ standard to C++17 is correctly implemented.
19-31: LGTM!The necessary dependencies are correctly found and required for the project.
53-63: LGTM!The new shared library
panther_hardware_pluginsis correctly added and linked against the required dependencies.
65-71: LGTM!The installation directives for the new library are correctly defined.
73-77: LGTM!The testing and linting setup is correctly defined.
79-82: LGTM!The plugin description file is correctly exported.
panther_gazebo/package.xml (9)
20-20: Addition ofhardware_interfacedependency is appropriate.This dependency is crucial for interfacing with hardware in ROS2 and is appropriate for simulation builds.
21-21: Addition ofign_ros2_controldependency is appropriate.This dependency is necessary for integrating Ignition Gazebo with ROS2 control interfaces.
23-23: Addition ofpluginlibdependency is appropriate.This dependency is essential for loading plugins in ROS2, which is often required in simulation environments.
24-24: Addition ofrclcppdependency is appropriate.This dependency is necessary for ROS2 C++ client library functionalities.
25-25: Addition ofrclcpp_lifecycledependency is appropriate.This dependency is necessary for managing the lifecycle of ROS2 nodes.
26-26: Addition ofsensor_msgsdependency is appropriate.This dependency is necessary for using standard sensor messages in ROS2.
27-27: Addition ofstd_msgsdependency is appropriate.This dependency is necessary for using standard messages in ROS2.
28-28: Addition ofstd_srvsdependency is appropriate.This dependency is necessary for using standard services in ROS2.
21-21: Removal ofign_ros2_controlfrom<exec_depend>is appropriate.This removal suggests that
ign_ros2_controlis no longer required at runtime but only during the simulation build process.panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (7)
16-17: Header guards are correctly defined.The header guards
PANTHER_GAZEBO__GZ_PANTHER_SYSTEMare correctly defined.
46-52: Lifecycle callback methods are correctly overridden.The methods
on_init,on_configure,on_activate, andon_deactivateare standard for managing the lifecycle of ROS2 nodes and are correctly overridden.
54-56: State and command interface methods are correctly overridden.The methods
export_state_interfacesandexport_command_interfacesare necessary for interfacing with the hardware and are correctly overridden.
58-60: Command mode switch method is correctly overridden.The method
perform_command_mode_switchis necessary for switching command modes in ROS2 control and is correctly overridden.
62-66: Read and write methods are correctly overridden.The methods
readandwriteare necessary for interfacing with the hardware and are correctly overridden.
83-86:initSimmethod is correctly implemented.The method
initSimis necessary for setting up the simulation environment and is correctly implemented.
89-105: Private methods are correctly implemented.The methods
registerSensors,readParams,setupEStop,publishEStopStatus,eStopResetCallback, andeStopTriggerCallbackare necessary for managing sensors and emergency stop functionalities and are correctly implemented.panther_description/urdf/gazebo.urdf.xacro (3)
45-45: Remapping configuration forgz_ros2_control/e_stopis correct.This remapping ensures that the emergency stop signal is correctly routed to the hardware control topic.
46-46: Remapping configuration forgz_ros2_control/e_stop_resetis correct.This remapping ensures that the emergency stop reset signal is correctly routed to the hardware control topic.
47-47: Remapping configuration forgz_ros2_control/e_stop_triggeris correct.This remapping ensures that the emergency stop trigger signal is correctly routed to the hardware control topic.
panther_description/urdf/panther_macro.urdf.xacro (3)
65-65: Verify compatibility of the new plugin.The plugin has been changed from
ign_ros2_control/IgnitionSystemtopanther_gazebo/PantherSystem. Ensure that the new plugin is correctly configured and compatible with the rest of the system.
66-66: Verify the appropriateness of thee_stop_publish_frequencyvalue.The parameter
e_stop_publish_frequencyhas been set to20. Ensure that this frequency is appropriate for the system's requirements.
67-67: Verify the appropriateness of thee_stop_initial_statevalue.The parameter
e_stop_initial_statehas been set totrue. Ensure that this initial state is appropriate for the system's requirements and safety protocols.panther_gazebo/src/gz_panther_system.cpp (6)
1-14: Verify copyright and license information.Ensure that the copyright and license information is accurate and complies with the project's requirements.
16-45: Verify included headers.Ensure that all included headers are necessary and there are no redundant or missing includes.
47-86: VerifyjointDataandMimicJointstructures.Ensure that the
jointDataandMimicJointstructures are well-defined and cover all necessary attributes for the system's requirements.
88-119: VerifyImuDataclass andOnIMUmethod.Ensure that the
ImuDataclass and itsOnIMUmethod are well-defined and correctly implement the required functionality.
121-167: VerifyPantherSystemPrivateclass.Ensure that the
PantherSystemPrivateclass is well-defined and covers all necessary attributes and methods for the system's requirements.
169-839: VerifyPantherSystemmethods.Ensure that all methods in the
PantherSystemclass are well-defined and correctly implement the required functionality. Pay special attention to the emergency stop functionality.
rafal-gorecki
changed the title
* New format of documentation (#369) * Change 3 package for demo * Improve ROS_API * fix links * Update * Update * Table improvements * Format * Save work * Save work * update * fix * fix * fix * fix * fix * Add API warning * Improve links * lights simplify * Create CONFIGURATION.md files * Typos * pre-commit * Apply suggestions from code review Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> * Save work * Final unification * Delete trash * typos * Update README.md * Update ROS_API.md * Update ROS_API.md * Update README.md Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> * Change initial warning to beta warning * improve warn rendering * rendering * Update Diagram * Add Dawid suggestions * Dot * Change diagram ext and typos * Do not describe external nodes * Add Dawid suggestons * Add last Dawid suggestions * Format * Pawel suggestions * Diagram improvements * Update * Diagram Visual --------- Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> * Change scheme theme (#380) * unify CMakeLists.txt files (#381) * First working version * Ros2 increase bt service timeout (#382) * Parametrize and increase service timeout in managers * Format panther API drawio file * Add Estop GUI and docs --------- Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com>
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Actionable comments posted: 0
Outside diff range, codebase verification and nitpick comments (4)
panther_gazebo/src/gui/Estop.config (1)
1-2: Consider adding a comment for clarity.Adding a brief comment explaining the purpose of this plugin configuration would improve readability and maintainability.
+ <!-- Emergency stop plugin configuration --> <plugin filename="Estop"> </plugin>panther_gazebo/include/panther_gazebo/gui/Estop.hpp (1)
57-58: Consider initializing clients in the constructor.The
e_stop_reset_client_ande_stop_trigger_client_clients are declared but not initialized. Consider initializing them in the constructor for better clarity and to avoid potential runtime errors.Estop::Estop() { node_ = std::make_shared<rclcpp::Node>("estop_node"); e_stop_reset_client_ = node_->create_client<std_srvs::srv::Trigger>(e_stop_reset_service_); e_stop_trigger_client_ = node_->create_client<std_srvs::srv::Trigger>(e_stop_trigger_service_); }panther_gazebo/README.md (2)
17-17: Correct punctuation for clarity.The sentence should end with a period for consistency with the rest of the list.
- [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which add E-Stop and Teleop widgets. + [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgets.Tools
LanguageTool
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
36-36: Add missing article for grammatical correctness.The sentence is missing an article before "requests."
- Plugin based on `ign_system` is responsible for handling sensor interfaces (only IMU for now) and sending requests for joints compatible with `ros2_control`. Plugin also adds E-Stop support. + The plugin based on `ign_system` is responsible for handling sensor interfaces (only IMU for now) and sending requests for joints compatible with `ros2_control`. The plugin also adds E-Stop support.Tools
LanguageTool
[uncategorized] ~36-~36: Possible missing article found.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_HYDRA_LEO_MISSING_THE)
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (14)
- panther/panther_simulation.repos (1 hunks)
- panther_description/CMakeLists.txt (1 hunks)
- panther_description/urdf/panther_macro.urdf.xacro (1 hunks)
- panther_gazebo/CMakeLists.txt (1 hunks)
- panther_gazebo/README.md (1 hunks)
- panther_gazebo/config/gz_bridge.yaml (1 hunks)
- panther_gazebo/config/teleop_with_estop.config (1 hunks)
- panther_gazebo/hooks/panther_gazebo.sh.in (1 hunks)
- panther_gazebo/include/panther_gazebo/gui/Estop.hpp (1 hunks)
- panther_gazebo/launch/simulation.launch.py (2 hunks)
- panther_gazebo/src/gui/Estop.config (1 hunks)
- panther_gazebo/src/gui/Estop.cpp (1 hunks)
- panther_gazebo/src/gui/Estop.qml (1 hunks)
- panther_gazebo/src/gui/Estop.qrc (1 hunks)
Files skipped from review due to trivial changes (5)
- panther/panther_simulation.repos
- panther_description/CMakeLists.txt
- panther_gazebo/config/gz_bridge.yaml
- panther_gazebo/hooks/panther_gazebo.sh.in
- panther_gazebo/src/gui/Estop.qrc
Additional context used
LanguageTool
panther_gazebo/README.md
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
[uncategorized] ~36-~36: Possible missing article found.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_HYDRA_LEO_MISSING_THE)
Additional comments not posted (44)
panther_gazebo/include/panther_gazebo/gui/Estop.hpp (4)
1-13: License header is correct.The license header follows the Apache License, Version 2.0, which is appropriate for this project.
15-16: Include header guards are correct.The header guards are correctly defined to prevent multiple inclusions.
18-23: Necessary headers are included.The necessary headers for
ignition::gui::Plugin,rclcpp, andstd_srvs::srv::Triggerare included.
26-61: Class definition looks solid.The class
Estopinherits fromignition::gui::Pluginand includes necessary properties, methods, and signals/slots for the emergency stop functionality.panther_gazebo/src/gui/Estop.qml (3)
1-14: License header is correct.The license header follows the Apache License, Version 2.0, which is appropriate for this project.
15-20: Necessary imports are included.The necessary imports for QtQuick, QtQuick.Controls, and other modules are included.
22-83: GUI elements are well-defined.The GUI elements, including the
Rectangle,Label,TextField, andToolButton, are well-defined and follow good practices. The use of properties, anchors, and event handlers is appropriate.panther_gazebo/launch/simulation.launch.py (5)
32-39: Ensure thegz_guiargument is correctly declared and used.The
gz_guiargument is declared and used correctly. Ensure that the specified default value and description match the intended usage.
41-46: Ensure thenamespaceargument is correctly declared and used.The
namespaceargument is declared and used correctly. Ensure that the specified default value and description match the intended usage.
48-51: Ensure theReplaceStringaction is correctly used.The
ReplaceStringaction is used to dynamically adjust the GUI configuration based on the specified namespace. Ensure that the source file and replacements are correctly specified.
18-18: Add missing import forIncludeLaunchDescription.The
IncludeLaunchDescriptionimport is missing from the import statement.- from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription + from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, IncludeLaunchDescriptionLikely invalid or redundant comment.
27-27: Add missing import forReplaceString.The
ReplaceStringimport is missing from the import statement.- from nav2_common.launch import ReplaceString + from nav2_common.launch import ReplaceStringLikely invalid or redundant comment.
panther_gazebo/CMakeLists.txt (6)
8-22: Ensure all new dependencies are correctly specified.The new dependencies are correctly specified in the
PACKAGE_DEPENDENCIESlist. Ensure that all required packages are included and correctly referenced.
28-31: Ensure all Qt5 components are correctly specified.The required Qt5 components are correctly specified. Ensure that all necessary components are included and correctly referenced.
40-50: Ensure thepanther_hardware_pluginslibrary is correctly defined and linked.The
panther_hardware_pluginslibrary is correctly defined and linked against the necessary dependencies. Ensure that the source file and dependencies are correctly specified.
54-59: Ensure theEstoplibrary is correctly defined and linked.The
Estoplibrary is correctly defined and linked against the necessary dependencies. Ensure that the source files and dependencies are correctly specified.
63-73: Ensure the installation directives are correctly specified.The installation directives for the new libraries are correctly specified. Ensure that the installation paths and targets are correctly defined.
77-80: Ensure the testing and linting configurations are correctly specified.The testing and linting configurations are correctly specified. Ensure that all necessary dependencies and configurations are included.
panther_gazebo/src/gui/Estop.cpp (6)
25-25: Constructor initialization looks good!The constructor correctly initializes the ROS2 node.
27-27: Destructor shutdown looks good!The destructor correctly shuts down the ROS2 node.
73-73: Namespace conversion looks good!The function correctly converts and returns the namespace as a QString.
29-44: Configuration loading and client initialization look good!The function correctly loads the configuration and initializes the ROS2 clients.
However, ensure that the service names
e_stop_reset_service_ande_stop_trigger_service_are correctly defined and used throughout the codebase.Verification successful
Service names are correctly defined and used.
The service names
e_stop_reset_service_ande_stop_trigger_service_are properly defined inEstop.hppand consistently used inEstop.cpp.
panther_gazebo/include/panther_gazebo/gui/Estop.hpp: Definitions with default values.panther_gazebo/src/gui/Estop.cpp: Multiple usages consistent with the definitions.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the service names `e_stop_reset_service_` and `e_stop_trigger_service_` are correctly defined and used. # Test: Search for the service names. Expect: Correct definitions and usages. rg --type cpp 'e_stop_reset_service_|e_stop_trigger_service_'Length of output: 1275
46-71: Service call handling looks good!The function correctly handles button press events and makes service calls. Error messages are informative.
However, ensure that the services are always ready before making calls.
Verification successful
Ensure all service calls are preceded by readiness checks.
The verification script confirms that the
service_is_readycheck is present in theEstop::buttonPressedfunction. However, it is crucial to ensure that all service calls in the file are preceded by readiness checks.
Service readiness check is properly implemented.
The
Estop.cppfile correctly ensures that the service is ready before making service calls, as evidenced by the presence of theservice_is_readycheck before theasync_send_requestcall.
panther_gazebo/src/gui/Estop.cpp: The service readiness check is properly implemented before making service calls.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the service readiness check in `Estop::buttonPressed`. # Test: Search for the service readiness check. Expect: Correct readiness checks before service calls. rg --type cpp 'service_is_ready'Length of output: 102
Script:
#!/bin/bash # Description: Verify that all service calls in Estop.cpp are preceded by readiness checks. # Test: Search for service calls and check for readiness checks. rg --type cpp 'async_send_request' -A 5Length of output: 2660
75-88: Namespace setting and service name updates look good!The function correctly sets the namespace and updates the service names.
However, ensure that the namespace updates are correctly propagated throughout the codebase.
Verification successful
Let's verify if the namespace updates in the
Estopclass are correctly propagated and used throughout the codebase.
Namespace setting and service name updates are correctly handled within the
Estopclass.The
namespace_variable is properly set and used within theEstopclass, and there are no other instances of theEstopclass being used elsewhere in the codebase.
panther_gazebo/src/gui/Estop.cpppanther_gazebo/include/panther_gazebo/gui/Estop.hppScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the namespace updates in `Estop::setNamespace`. # Test: Search for the namespace updates. Expect: Correct propagation of namespace updates. rg --type cpp 'namespace_'Length of output: 631
Script:
#!/bin/bash # Description: Verify the instantiation and usage of the `Estop` class to ensure namespace updates are correctly propagated. # Search for instantiation of `Estop` class. rg --type cpp 'Estop' -A 5Length of output: 3791
panther_description/urdf/panther_macro.urdf.xacro (3)
66-66: Verify the parameter usage:e_stop_publish_frequency.The parameter
e_stop_publish_frequencyis set to100. Ensure the parameter value is appropriate and correctly used.Verification successful
Verified the parameter usage:
e_stop_publish_frequency.The parameter
e_stop_publish_frequencyis set to100and is used correctly in the codebase. It is documented in the README file and appropriately handled in thegz_panther_system.cppfile.
panther_gazebo/README.md: Describes the parameter and its default value.panther_gazebo/src/gz_panther_system.cpp: Multiple instances of the parameter being set and used.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the parameter usage of `e_stop_publish_frequency`. # Test: Search for the parameter usage. Expect: Correct usage and appropriate value. rg --type xml 'e_stop_publish_frequency'Length of output: 40
Script:
#!/bin/bash # Description: Verify the parameter usage of `e_stop_publish_frequency`. # Test: Search for the parameter usage in all file types. Expect: Correct usage and appropriate value. rg 'e_stop_publish_frequency'Length of output: 1253
67-67: Verify the parameter usage:e_stop_initial_state.The parameter
e_stop_initial_stateis set totrue. Ensure the parameter value is appropriate and correctly used.
65-65: Verify the new plugin integration.The plugin is replaced from
ign_ros2_control/IgnitionSystemtopanther_gazebo/PantherSystem. Ensure the new plugin is correctly integrated and compatible with the system.Verification successful
The new plugin
panther_gazebo/PantherSystemis correctly integrated and compatible with the system.The
PantherSystemclass inherits fromign_ros2_control::IgnitionSystemInterfaceand includes the necessary lifecycle methods. The plugin is properly exported, confirming its correct implementation and integration.
panther_gazebo/include/panther_gazebo/gz_panther_system.hpp: Implementation and inheritance details.panther_gazebo/panther_hardware_plugins.xml: Plugin definition and description.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the new plugin integration. # Test: Search for the new plugin usage. Expect: Correct integration and compatibility. rg --type xml 'panther_gazebo/PantherSystem'Length of output: 128
Script:
#!/bin/bash # Description: Verify the new plugin integration across the codebase. # Test: Search for the new plugin usage in XML files. rg --type xml 'panther_gazebo/PantherSystem' # Test: Search for the new plugin usage in source code files (e.g., C++, Python). rg 'panther_gazebo/PantherSystem'Length of output: 352
Script:
#!/bin/bash # Description: Inspect the contents of the panther_hardware_plugins.xml file for configuration details of the PantherSystem plugin. # Display the contents of the panther_hardware_plugins.xml file. cat panther_gazebo/panther_hardware_plugins.xmlLength of output: 385
Script:
#!/bin/bash # Description: Verify the implementation of panther_gazebo::PantherSystem and its inheritance from ign_ros2_control::IgnitionSystemInterface. # Search for the implementation of panther_gazebo::PantherSystem in source code files. rg 'class PantherSystem' -A 10 # Search for the inheritance from ign_ros2_control::IgnitionSystemInterface. rg 'IgnitionSystemInterface' -A 10Length of output: 9199
panther_gazebo/config/teleop_with_estop.config (17)
15-88: 3D View plugin configuration looks good!The plugin configuration correctly sets up a 3D view.
89-128: Entity context menu plugin configuration looks good!The plugin configuration correctly sets up an entity context menu.
157-223: Scene manager plugin configuration looks good!The plugin configuration correctly sets up a scene manager.
225-291: Interactive view control plugin configuration looks good!The plugin configuration correctly sets up interactive view control.
293-359: Camera tracking plugin configuration looks good!The plugin configuration correctly sets up camera tracking.
361-427: Marker manager plugin configuration looks good!The plugin configuration correctly sets up a marker manager.
429-495: Entity selection plugin configuration looks good!The plugin configuration correctly sets up entity selection.
497-563: Entity spawning plugin configuration looks good!The plugin configuration correctly sets up entity spawning.
565-631: Visualization capabilities plugin configuration looks good!The plugin configuration correctly sets up visualization capabilities.
633-785: World control plugin configuration looks good!The plugin configuration correctly sets up world control.
787-854: Shapes plugin configuration looks good!The plugin configuration correctly sets up shape manipulation.
855-921: Lights plugin configuration looks good!The plugin configuration correctly sets up light control.
923-989: Transform control plugin configuration looks good!The plugin configuration correctly sets up transform control.
993-1059: Screenshot plugin configuration looks good!The plugin configuration correctly sets up screenshot functionality.
1061-1127: Copy-paste plugin configuration looks good!The plugin configuration correctly sets up copy-paste functionality.
1129-1197: Estop plugin configuration looks good!The plugin configuration correctly sets up the Estop functionality.
1198-1265: Teleoperation plugin configuration looks good!The plugin configuration correctly sets up teleoperation functionality.
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Actionable comments posted: 0
Outside diff range, codebase verification and nitpick comments (3)
panther_gazebo/README.md (2)
17-17: Consider rephrasing for clarity.The punctuation mark after "widgets" may be unnecessary. Consider rephrasing for better readability.
- [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgets. + [`teleop_with_estop.config`](./config/teleop_with_estop.config): A Gazebo layout configuration file that adds E-Stop and Teleop widgets.Tools
LanguageTool
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
39-39: Consider adding a missing article.The sentence might benefit from adding an article for clarity.
- Plugin based on `ign_system` is responsible for handling sensor interfaces (only IMU for now) and sending requests for joints compatible with `ros2_control`. + The plugin based on `ign_system` is responsible for handling sensor interfaces (only IMU for now) and sending requests for joints compatible with `ros2_control`.Tools
LanguageTool
[uncategorized] ~39-~39: Possible missing article found.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_HYDRA_LEO_MISSING_THE)
panther_gazebo/src/gui/e_stop.cpp (1)
46-71: Improve warning message clarity for unavailable services.The warning message for unavailable services could be more informative by specifying which service is unavailable.
- ignwarn << "Unavailable service: " - << (pressed ? this->e_stop_reset_service_ : this->e_stop_trigger_service_) << std::endl; + ignwarn << "Unavailable service: " + << (pressed ? this->e_stop_trigger_service_ : this->e_stop_reset_service_) << std::endl;
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (7)
- panther_gazebo/CMakeLists.txt (1 hunks)
- panther_gazebo/README.md (1 hunks)
- panther_gazebo/include/panther_gazebo/gui/e_stop.hpp (1 hunks)
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (1 hunks)
- panther_gazebo/panther_simulation_plugins.xml (1 hunks)
- panther_gazebo/src/gui/Estop.qml (1 hunks)
- panther_gazebo/src/gui/e_stop.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (3)
- panther_gazebo/CMakeLists.txt
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
- panther_gazebo/src/gui/Estop.qml
Additional context used
LanguageTool
panther_gazebo/README.md
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
[uncategorized] ~39-~39: Possible missing article found.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_HYDRA_LEO_MISSING_THE)
Additional comments not posted (8)
panther_gazebo/panther_simulation_plugins.xml (1)
1-10: LGTM!The XML structure for defining the
panther_gazeboplugin is well-formed and clear.panther_gazebo/include/panther_gazebo/gui/e_stop.hpp (1)
1-66: Well-structured header file.The
Estopclass is well-defined, utilizing Qt's properties, signals, and slots effectively. The use ofconstexprfor service names enhances maintainability.panther_gazebo/README.md (1)
23-55: Comprehensive documentation.The documentation for the E-stop functionality and associated configurations is clear and detailed, aiding in understanding the system's capabilities.
Tools
LanguageTool
[uncategorized] ~39-~39: Possible missing article found.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_HYDRA_LEO_MISSING_THE)
panther_gazebo/src/gui/e_stop.cpp (5)
1-20: License and includes are appropriate.The Apache License header is correctly included, and the necessary Ignition GUI and plugin headers are present.
21-27: Namespace and ROS 2 initialization logic are correct.The use of namespaces is appropriate, and the constructor/destructor correctly handle ROS 2 initialization and shutdown.
29-44:LoadConfigmethod logic is sound.The method correctly initializes the ROS 2 node and service clients, and handles plugin configuration.
73-88: Namespace management methods are correct.The methods effectively manage the namespace and update service client configurations. The logging message is informative.
93-93: Plugin registration is correctly implemented.The
Estopplugin is properly registered with the Ignition GUI system.
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Outside diff range, codebase verification and nitpick comments (1)
panther_gazebo/README.md (1)
17-17: Fix punctuation and grammar.Ensure consistent punctuation and correct grammar in the description.
- [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which add E-Stop and Teleop widgets. + [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgets.Tools
LanguageTool
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
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Files selected for processing (5)
- panther_description/urdf/panther_macro.urdf.xacro (1 hunks)
- panther_gazebo/README.md (1 hunks)
- panther_gazebo/include/panther_gazebo/gui/e_stop.hpp (1 hunks)
- panther_gazebo/src/gui/e_stop.cpp (1 hunks)
- panther_gazebo/src/gz_panther_system.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (4)
- panther_description/urdf/panther_macro.urdf.xacro
- panther_gazebo/include/panther_gazebo/gui/e_stop.hpp
- panther_gazebo/src/gui/e_stop.cpp
- panther_gazebo/src/gz_panther_system.cpp
Additional context used
LanguageTool
panther_gazebo/README.md
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
Additional comments not posted (7)
panther_gazebo/README.md (7)
21-23: Clear and concise description.The description of the
Estopnode effectively communicates its purpose.
25-28: Service clients documentation is clear.The service clients for the
Estopnode are well-documented.
30-32: Informative description ofPantherSystem.The description provides a clear overview of the
PantherSystemnode's functionalities.
34-36: Publisher documentation is clear.The publisher for the
PantherSystemnode is well-documented.
38-41: Service servers documentation is clear.The service servers for the
PantherSystemnode are well-documented.
43-44: Important note on remapping.The note about remapping topics and services is crucial for correct integration with the real robot.
46-50: Parameters documentation is clear.The parameters for the
PantherSystemnode are well-documented, providing necessary configuration information.
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Outside diff range, codebase verification and nitpick comments (4)
panther_gazebo/README.md (2)
17-17: Consider removing the punctuation mark.The punctuation mark after "widgets" is unnecessary.
- [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgets. + [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgetsTools
LanguageTool
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
32-32: Consider adding a determiner for clarity.A determiner before "Plugin" improves readability.
- Plugin also adds E-Stop support. + The plugin also adds E-Stop support.Tools
LanguageTool
[uncategorized] ~32-~32: A determiner appears to be missing. Consider inserting it.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_EN_LECTOR_MISSING_DETERMINER)
panther_gazebo/src/plugins/Estop.qml (1)
22-28: Consider setting a maximum width and height for better UI scaling.The
Layout.minimumWidthandLayout.minimumHeightproperties are set, which is good for ensuring a minimum size. However, consider adding maximum width and height constraints to ensure the UI scales well on different screen sizes.Layout.maximumWidth: 500 Layout.maximumHeight: 400panther_gazebo/src/plugins/e_stop.cpp (1)
46-71: Improve error handling for service calls.The
buttonPressedmethod handles service calls but could benefit from more robust error handling. Consider logging additional information for debugging purposes, such as the specific error code or context.if (!client->service_is_ready()) { ignwarn << "Unavailable service: " << (pressed ? e_stop_reset_service_ : e_stop_trigger_service_) << " at " << client->get_service_name() << std::endl; return; }
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Files selected for processing (7)
- panther_gazebo/CMakeLists.txt (1 hunks)
- panther_gazebo/README.md (1 hunks)
- panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp (1 hunks)
- panther_gazebo/src/plugins/Estop.config (1 hunks)
- panther_gazebo/src/plugins/Estop.qml (1 hunks)
- panther_gazebo/src/plugins/Estop.qrc (1 hunks)
- panther_gazebo/src/plugins/e_stop.cpp (1 hunks)
Files skipped from review due to trivial changes (1)
- panther_gazebo/src/plugins/Estop.config
Files skipped from review as they are similar to previous changes (1)
- panther_gazebo/CMakeLists.txt
Additional context used
LanguageTool
panther_gazebo/README.md
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
[uncategorized] ~32-~32: A determiner appears to be missing. Consider inserting it.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_EN_LECTOR_MISSING_DETERMINER)
Additional comments not posted (6)
panther_gazebo/src/plugins/Estop.qrc (1)
1-5: LGTM!The Qt resource collection file is correctly structured.
panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp (1)
1-64: LGTM!The
Estopclass is well-structured and follows best practices for a Qt and ROS 2 plugin.panther_gazebo/src/plugins/Estop.qml (2)
59-87: Check the toggle button logic for consistency.The
eStopButtontoggles between "STOP" and "GO" states. Ensure that the logic for toggling the button state is consistent with the actual e-stop state and that there are no race conditions or state mismatches.Verification successful
Toggle Button Logic is Consistent with E-Stop State
The logic for toggling the
eStopButtonbetween "STOP" and "GO" states is consistent with the e-stop state management. ThebuttonPressedmethod correctly uses thee_stop_trigger_client_ande_stop_reset_client_based on the button's state, ensuring alignment with the expected behavior. No race conditions or state mismatches are evident.
- The clients are correctly initialized and used.
- The service readiness is checked before sending requests.
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the consistency of the toggle button logic with the e-stop state. # Test: Search for the `buttonPressed` method and ensure it aligns with the e-stop state logic. rg --type cpp --context 5 'buttonPressed'Length of output: 1602
Script:
#!/bin/bash # Search for the definitions and usages of e_stop_trigger_client_ and e_stop_reset_client_ rg --type cpp --context 5 'e_stop_trigger_client_' rg --type cpp --context 5 'e_stop_reset_client_'Length of output: 7045
38-56: Ensure namespace changes are correctly handled.The
namespaceFieldallows users to input a namespace, and theonEditingFinishedsignal updates the namespace. Ensure that the backend correctly handles namespace changes and that any dependent components are updated accordingly.panther_gazebo/src/plugins/e_stop.cpp (2)
24-26: Ensure proper initialization and shutdown of ROS nodes.The constructor and destructor handle ROS node initialization and shutdown. Ensure that these operations are performed without any side effects, especially in multi-threaded contexts.
73-86: Ensure namespace changes are correctly propagated.The
SetNamespacemethod updates the namespace and reinitializes service clients. Verify that all components depending on the namespace are updated and that there are no stale references.Verification successful
Namespace changes are correctly managed within the Estop class.
The
SetNamespacemethod updates the necessary service clients, and there are no additional components listening for namespace changes via theChangedNamespacesignal. The current implementation appears to handle namespace updates adequately.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that namespace changes are correctly propagated. # Test: Search for all usages of `SetNamespace` and ensure all dependent components are updated. rg --type cpp --context 5 'SetNamespace'Length of output: 3064
Script:
#!/bin/bash # Search for connections to the ChangedNamespace signal to see if there are any listeners. rg --type cpp --context 5 'connect(.*ChangedNamespace' # Search for direct usage of the namespace_ variable to identify other dependent components. rg --type cpp --context 5 'namespace_'Length of output: 3773
Script:
#!/bin/bash # Correct the regex syntax and search for connections to the ChangedNamespace signal. rg --type cpp --context 5 'connect\(.*ChangedNamespace\)'Length of output: 59
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Files selected for processing (2)
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (1 hunks)
- panther_gazebo/src/gz_panther_system.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_gazebo/src/gz_panther_system.cpp
Additional comments not posted (5)
panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (5)
1-18: License and include guards are correctly implemented.The Apache 2.0 license header and include guards are correctly set up.
19-29: Include directives are appropriate.The included headers are necessary for the functionality provided by the class.
31-34: Namespace and using declaration are appropriate.The use of the
panther_gazebonamespace andCallbackReturnalias improves code organization and readability.
38-72: Class definition and member functions are well-structured.The
PantherSystemclass is appropriately designed to manage emergency stop functionalities, with lifecycle and control methods clearly defined.
55-71: Private member variables and helper functions are necessary and well-defined.The private member variables and helper functions support the implementation of the e-stop functionality.
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Outside diff range, codebase verification and nitpick comments (2)
panther_gazebo/README.md (2)
17-17: Improve punctuation in the configuration file description.The description for
teleop_with_estop.configshould be more concise. Consider removing the comma after "file."- [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgets. + [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file which adds E-Stop and Teleop widgets.Tools
LanguageTool
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
32-32: Add missing determiner for clarity.Consider adding "the" before "joints" to improve clarity.
- Plugin based on `ign_system` is responsible for handling sensor interfaces (only IMU for now) and sending requests for joints compatible with `ros2_control`. + Plugin based on `ign_system` is responsible for handling sensor interfaces (only IMU for now) and sending requests for the joints compatible with `ros2_control`.Tools
LanguageTool
[uncategorized] ~32-~32: A determiner appears to be missing. Consider inserting it.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_EN_LECTOR_MISSING_DETERMINER)
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Files selected for processing (7)
- panther_gazebo/CMakeLists.txt (1 hunks)
- panther_gazebo/README.md (1 hunks)
- panther_gazebo/config/teleop_with_estop.config (1 hunks)
- panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp (1 hunks)
- panther_gazebo/src/plugins/EStop.qml (1 hunks)
- panther_gazebo/src/plugins/EStop.qrc (1 hunks)
- panther_gazebo/src/plugins/e_stop.cpp (1 hunks)
Files skipped from review due to trivial changes (1)
- panther_gazebo/src/plugins/EStop.qrc
Files skipped from review as they are similar to previous changes (4)
- panther_gazebo/CMakeLists.txt
- panther_gazebo/config/teleop_with_estop.config
- panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp
- panther_gazebo/src/plugins/e_stop.cpp
Additional context used
LanguageTool
panther_gazebo/README.md
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
[uncategorized] ~32-~32: A determiner appears to be missing. Consider inserting it.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_EN_LECTOR_MISSING_DETERMINER)
Additional comments not posted (1)
panther_gazebo/src/plugins/EStop.qml (1)
46-55: VerifyEStopobject definition and functionality.Ensure that the
EStopobject is defined and its methods (SetNamespaceandbuttonPressed) are implemented correctly in the codebase.Verification successful
EStopObject and Methods VerifiedThe
EStopobject is defined and its methodsSetNamespaceandbuttonPressedare implemented correctly in the codebase. TheEStopclass is located inpanther_gazebo/include/panther_gazebo/plugins/e_stop.hppand its implementation is inpanther_gazebo/src/plugins/e_stop.cpp. The methodsSetNamespaceandbuttonPressedare implemented as expected.
- EStop Class Definition:
panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp- SetNamespace Method:
panther_gazebo/src/plugins/e_stop.cpp- buttonPressed Method:
panther_gazebo/src/plugins/e_stop.cppNo further action is necessary as the object and methods are correctly defined and implemented.
Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the definition and implementation of the `EStop` object and its methods. # Test: Search for the `EStop` object and its methods. Expect: Definitions and implementations of `SetNamespace` and `buttonPressed`. rg --type qml --type cpp --type hpp $'EStop.SetNamespace' --context 5 rg --type qml --type cpp --type hpp $'EStop.buttonPressed' --context 5Length of output: 194
Script:
#!/bin/bash # Description: Verify the definition and implementation of the `EStop` object and its methods. # Test: Search for the `EStop` object and its methods. Expect: Definitions and implementations of `SetNamespace` and `buttonPressed`. rg --type qml --type cpp --type h $'EStop.SetNamespace' --context 5 rg --type qml --type cpp --type h $'EStop.buttonPressed' --context 5 # Additionally, search for the definition of the `EStop` object. rg --type qml --type cpp --type h $'EStop' --context 5Length of output: 117986
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Files selected for processing (3)
- panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp (1 hunks)
- panther_gazebo/src/plugins/EStop.qml (1 hunks)
- panther_gazebo/src/plugins/e_stop.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (3)
- panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp
- panther_gazebo/src/plugins/EStop.qml
- panther_gazebo/src/plugins/e_stop.cpp
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Outside diff range, codebase verification and nitpick comments (3)
panther_gazebo/README.md (3)
17-17: Refine punctuation for clarity.Consider adding a period at the end of the sentence for consistency with the other entries.
- [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgets + [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgets.Tools
LanguageTool
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
32-32: Add missing article for grammatical correctness.Consider adding "The" at the beginning of the sentence for grammatical correctness.
- Plugin based on `ign_system` is responsible for handling sensor interfaces (only IMU for now) and sending requests for joints compatible with `ros2_control`. Plugin also adds E-Stop support. + The plugin based on `ign_system` is responsible for handling sensor interfaces (only IMU for now) and sending requests for joints compatible with `ros2_control`. The plugin also adds E-Stop support.Tools
LanguageTool
[uncategorized] ~32-~32: Possible missing article found.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_HYDRA_LEO_MISSING_THE)
43-44: Clarify remapping instructions.Consider specifying how to remap the topics and services to match the real robot for better clarity.
> Above topics and services should be remapped to match real robot > Above topics and services should be remapped to match the real robot's configuration.
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Files selected for processing (5)
- panther_description/urdf/panther_macro.urdf.xacro (1 hunks)
- panther_gazebo/README.md (1 hunks)
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (1 hunks)
- panther_gazebo/panther_simulation_plugins.xml (1 hunks)
- panther_gazebo/src/gz_panther_system.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (3)
- panther_description/urdf/panther_macro.urdf.xacro
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
- panther_gazebo/panther_simulation_plugins.xml
Additional context used
LanguageTool
panther_gazebo/README.md
[uncategorized] ~17-~17: Loose punctuation mark.
Context: ...fig`](./config/teleop_with_estop.config): Gazebo layout configuration file, which...(UNLIKELY_OPENING_PUNCTUATION)
[uncategorized] ~32-~32: Possible missing article found.
Context: ... joints compatible withros2_control. Plugin also adds E-Stop support. #### Publish...(AI_HYDRA_LEO_MISSING_THE)
Additional comments not posted (3)
panther_gazebo/src/gz_panther_system.cpp (3)
221-229: Ensure e-stop logic is correct inwritemethod.The
writemethod returns early ife_stop_activeis true. Ensure this logic aligns with the intended behavior of the system.Verification successful
E-stop logic in
writemethod is correct and consistent.The
e_stop_activevariable is used consistently across theGzPantherSystemclass to manage the emergency stop state. The early return in thewritemethod aligns with the intended behavior of halting operations when the e-stop is active. No issues found with the current implementation.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the logic and usage of `e_stop_active` within the write method. # Test: Search for `e_stop_active` usage. Expect: Consistent logic across the class. rg --type cpp 'e_stop_active' -A 3Length of output: 1885
1-14: Ensure license compliance.The license header appears to be correct, but ensure compliance with the Apache License, Version 2.0, by maintaining this header in all relevant files.
Verification successful
License Compliance Verified
The license header is correctly present in
panther_gazebo/src/gz_panther_system.cppand other relevant files across the codebase. No further action is needed.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that all source files contain the correct license header. # Test: Check for the Apache License header in all source files. rg --type cpp --type h -A 14 $'// Licensed under the Apache License, Version 2.0'Length of output: 247949
150-164: Ensure proper namespace usage.The
SetupEStopmethod usesnh_for node handling, which should be properly initialized and managed within the class.
Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
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- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (1 hunks)
- panther_gazebo/src/gz_panther_system.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
- panther_gazebo/src/gz_panther_system.cpp
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- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (1 hunks)
- panther_gazebo/src/gz_panther_system.cpp (1 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
- panther_gazebo/src/gz_panther_system.cpp
Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
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- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (1 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
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- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp (1 hunks)
Files skipped from review due to trivial changes (1)
- panther_gazebo/include/panther_gazebo/gz_panther_system.hpp
Description
Add Estop functionalities to Gazebo simulation, to ensure greater API compatibility between the simulation and the real system. Additionaly this add Estop plugin for easy manage estop from simulation.
Modifications
PantherSystyemcode.Estopfor easy manage the state of robot.PantherSystyemandEstopSuggestions
Summary by CodeRabbit
New Features
GzPantherSystemclass to manage the Panther robot's integration and lifecycle within the Gazebo simulation.Bug Fixes
Documentation
Chores